Disturbance-Observer Based Tracking Control of Industrial SCARA Robot Manipulators.
Amine DehakAnh-Tu NguyenAntoine DequidtLaurent VermeirenMichel DambrinePublished in: IECON (2019)
Keyphrases
- robot manipulators
- tracking control
- control scheme
- tracking error
- control law
- nonlinear systems
- closed loop
- dynamic model
- fuzzy controller
- adaptive neural
- control system
- adaptive control
- fuzzy model
- fuzzy neural network
- pid controller
- control strategy
- learning rate
- control algorithm
- lyapunov function
- artificial neural networks