Fuzzy adaptive sliding mode control of a direct drive robot.
Kemalettin ErbaturOkyay KaynakAsif SabanoviçImre J. RudasPublished in: Robotics Auton. Syst. (1996)
Keyphrases
- adaptive fuzzy
- sliding mode control
- robot manipulators
- sliding mode
- control algorithm
- adaptive neural
- neural network
- nonlinear systems
- mobile robot
- feedback control
- direct drive
- fuzzy controller
- fuzzy control
- vision system
- inverse kinematics
- fuzzy neural network
- median filter
- fuzzy numbers
- fuzzy rules
- inverted pendulum
- fuzzy logic
- robotic manipulator
- real time
- multi robot
- control system
- variable structure
- fuzzy sets
- membership functions
- fuzzy clustering
- fuzzy systems
- control strategy
- optimal control