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Path-following NMPC for serial-link robot manipulators using a path-parametric system reformulation.
Niels van Duijkeren
Robin Verschueren
Goele Pipeleers
Moritz Diehl
Jan Swevers
Published in:
ECC (2016)
Keyphrases
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robot manipulators
dynamic model
nonlinear model predictive control
control scheme
sliding mode control
receding horizon
sliding mode
real time
genetic algorithm
closed loop
pid controller
fuzzy neural network
obstacle avoidance