Extended State Observer Fuzzy-Approximation-Based Active Disturbances Rejection Control Method for Humanoid Robot with Trajectory Tracking.
Keqiang BaiYao ChenZhigui LiuQiumeng QianPublished in: Int. J. Humanoid Robotics (2020)
Keyphrases
- control method
- trajectory tracking
- humanoid robot
- desired trajectory
- fuzzy controller
- sliding mode
- control strategy
- control algorithm
- control system
- adaptive control
- bi directional
- closed loop
- fuzzy control
- neural network controller
- motion planning
- physical constraints
- pid controller
- multi modal
- iterative learning control
- control law
- iterative learning
- dynamic model
- fuzzy logic controller
- power system
- variable structure
- stability analysis
- robot manipulators
- manufacturing systems
- sliding mode control
- lyapunov function
- mathematical model
- adaptive fuzzy
- membership functions
- fuzzy neural network
- real time
- nonlinear systems
- fuzzy sets
- control scheme
- video sequences