Nonlinear Orientation Controller for a Compliant Robotic Fish Based on Asymmetric Actuation.
Christian MeurerAshutosh SimhaÜlle KottaMaarja KruusmaaPublished in: ICRA (2019)
Keyphrases
- control algorithm
- neural network controller
- tracking control
- robotic manipulator
- robotic systems
- real time
- variable structure
- control system
- control architecture
- disturbance rejection
- control scheme
- limit cycle
- adaptive neural
- position control
- control loop
- highly nonlinear
- neural network
- model predictive control
- mobile robot
- control strategy
- closed loop
- control law
- lyapunov function
- adaptive controller
- degrees of freedom
- contact force
- robot manipulators
- diffusion equation
- mathematical model
- steady state
- optimal control
- pid controller
- nonlinear systems
- mechanical design
- feedback controller
- sufficient conditions
- linear quadratic
- fish species
- force control
- dc motor
- fuzzy controller
- gabor filters
- stability analysis
- adaptive fuzzy
- robust stability
- scale space