Decentralized sliding-mode control of robotic manipulator with constraint workspace: a finite-convergent barrier Lyapunov approach.
David Cruz-OrtizIsaac ChairezVadim I. UtkinAlexander S. PoznyakPublished in: CCE (2019)
Keyphrases
- sliding mode control
- robotic manipulator
- control scheme
- robot manipulators
- control strategy
- chaotic systems
- closed loop
- adaptive fuzzy
- control law
- control system
- fuzzy controller
- adaptive neural
- end effector
- nonlinear systems
- control algorithm
- inverse kinematics
- dynamic model
- mathematical model
- pid controller
- optimal control
- fuzzy control
- control method
- robotic systems
- degrees of freedom
- support vector regression
- visual servoing
- adaptive control
- stability analysis
- experimental data
- computer vision
- inverted pendulum
- dynamic environments
- artificial neural networks
- image sequences