Adaptive control of an exoskeleton robot with uncertainties on kinematics and dynamics.
Brahim BrahmiMaarouf SaadCristóbal Ochoa-LunaMohammad Habibur RahmanPublished in: ICORR (2017)
Keyphrases
- adaptive control
- control method
- desired trajectory
- trajectory tracking control
- sliding mode
- variable structure
- control law
- mobile robot
- control scheme
- control strategy
- trajectory tracking
- feedback control
- nonlinear systems
- dynamic environments
- adaptive controller
- control algorithm
- closed loop
- lower extremity
- pid controller
- end effector
- control system
- autonomous control
- joint space
- fuzzy control
- parallel robot
- position control
- visual servoing
- autonomous robots
- lyapunov function
- degrees of freedom
- robot manipulators
- inverse kinematics
- mathematical model
- chaotic systems
- robotic manipulator
- path planning
- tracking error
- fuzzy controller
- motion planning
- dynamical systems
- kinematic model
- robot arm
- control theory
- optimization algorithm
- manufacturing systems
- vision system
- multi robot
- data mining