An exponentially stable adaptive control law for robot manipulators.
Nader SadeghRoberto HorowitzPublished in: IEEE Trans. Robotics Autom. (1990)
Keyphrases
- robot manipulators
- adaptive controller
- control law
- control scheme
- force control
- adaptive control
- closed loop
- tracking error
- sliding mode
- variable structure
- control system
- nonlinear systems
- pid controller
- end effector
- dynamic model
- control strategy
- control theory
- visual servoing
- flight control
- control algorithm
- optimal control
- sliding mode control
- motion planning
- adaptive neural
- control parameters
- autonomous robots
- fuzzy controller
- fuzzy rules
- experimental data
- dynamic programming