Variable Structure Adaptive Cascade Control of Multi-Link Robot Manipulators with Flexible Joints: The Case of Arbitrary Uncertain Flexibilities.
Liu HsuRaul GuentherPublished in: ICRA (2) (1993)
Keyphrases
- variable structure
- robot manipulators
- adaptive control
- sliding mode
- control theory
- control method
- control strategy
- control scheme
- inverse kinematics
- sliding mode control
- dynamic model
- fuzzy control
- control system
- control law
- decision making
- pid controller
- nonlinear systems
- reinforcement learning
- dynamic environments
- degrees of freedom
- neural network
- adaptive fuzzy
- expert systems
- artificial neural networks
- state variables
- real time
- mobile robot
- fuzzy rules