Global Convergence of the Adaptive PD Controller with Computed Feedforward for Robot Manipulators.
Victor SantibañezRafael KellyPublished in: ICRA (1999)
Keyphrases
- feed forward
- robot manipulators
- global convergence
- adaptive neural
- adaptive controller
- control of robot manipulators
- control scheme
- global optimum
- neural network
- pid controller
- back propagation
- dynamic model
- convergence rate
- neural nets
- optimization methods
- convergence speed
- variable structure
- artificial neural networks
- adaptive control
- sliding mode
- fuzzy neural network
- recurrent neural networks
- nonlinear systems
- closed loop
- visual cortex
- control system
- fuzzy rules
- convex minimization
- computational intelligence
- real time
- knowledge base
- fuzzy control
- evolutionary algorithm
- membership functions
- rule base
- global optimization