An Adaptive Finite-Time Force-Sensorless Tracking Control Scheme for Pneumatic Muscle Actuators by an Optimal Force Estimation.
Cong Phat VoKyoung Kwan AhnPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- control scheme
- force control
- position control
- control system
- robotic manipulator
- robot manipulators
- closed loop
- control strategy
- degrees of freedom
- control algorithm
- tracking error
- control law
- dynamic model
- predictive control
- contact force
- end effector
- mathematical model
- control method
- fuzzy controller
- pid controller
- robot arm
- shape memory alloy
- particle filter
- control loop
- pid control
- controller design
- optimal control
- real time
- control strategies
- neural model
- sliding mode
- trajectory tracking
- external disturbances
- human arm
- inverse kinematics
- dc motor
- sliding mode control
- neural network controller
- dynamic programming
- heat exchanger