Fuzzy boundary layer tuning for sliding mode systems as applied to the control of a direct drive robot.
Kemalettin ErbaturBerk ÇalliPublished in: Soft Comput. (2009)
Keyphrases
- sliding mode
- robot manipulators
- trajectory tracking
- formation control
- variable structure
- sliding surface
- control strategy
- sliding mode control
- stability analysis
- sliding mode controller
- control law
- mobile robot
- control theory
- control scheme
- dynamic model
- control strategies
- fuzzy logic
- robotic manipulator
- adaptive fuzzy
- human operators
- robot control
- robotic systems
- vision system
- inverse kinematics
- real time
- direct drive
- visual servoing
- autonomous robots
- motion planning
- particle swarm optimization
- dynamic programming
- control system
- computer vision