Motion control of an oscillatory-base manipulator using sliding mode control via rotating sliding surface with variable-gain integral control.
Takuya IwamuraMasayoshi TodaPublished in: ACC (2013)
Keyphrases
- sliding mode control
- sliding surface
- motion control
- robot manipulators
- control system
- control strategy
- adaptive fuzzy
- sliding mode
- control algorithm
- sliding mode controller
- control method
- control scheme
- mobile robot
- adaptive neural
- fuzzy control
- variable structure
- robot control
- control law
- physical constraints
- autonomous robots
- pid controller
- dynamic model
- path planning
- support vector regression
- optimal control
- closed loop
- visual servoing
- fuzzy logic
- degrees of freedom
- fuzzy neural network
- support vector machine
- feed forward
- state variables
- chaotic systems
- nonlinear systems
- neural network
- robotic systems
- recurrent neural networks
- vision system
- artificial neural networks