Adaptive neural backstepping control for flexible-joint robot manipulator with bounded torque inputs.
Xin ChengYajun ZhangHuashan LiuDirk WollherrMartin BussPublished in: Neurocomputing (2021)
Keyphrases
- adaptive neural
- robot manipulators
- nonlinear systems
- control scheme
- sliding mode control
- control law
- control strategy
- fuzzy neural network
- force control
- fuzzy controller
- adaptive control
- closed loop
- tracking error
- sliding mode
- control system
- dynamic model
- control method
- control algorithm
- neural network
- adaptive fuzzy
- pid controller
- inverted pendulum
- inverse kinematics
- fuzzy control
- end effector
- fuzzy model
- feed forward
- nonlinear functions
- learning rate
- fuzzy systems
- lyapunov function
- mathematical model
- recurrent neural networks
- dynamical systems
- membership functions
- fuzzy rules
- particle swarm optimization
- real time