Control of closed kinematic chains using a singularly perturbed dynamic model.
Zhiyong WangFathi H. GhorbelPublished in: CDC (2004)
Keyphrases
- dynamic model
- parallel manipulator
- trajectory tracking
- wheeled mobile robots
- robot manipulators
- controller design
- experimental data
- control scheme
- reduced order model
- control system
- end effector
- control theory
- inverse kinematics
- predictive control
- physical constraints
- sliding mode
- degrees of freedom
- neural network
- feedback control
- robot control
- adaptive control
- control method
- closed loop