Stable neural PD controller for redundantly actuated parallel manipulators with uncertain kinematics.
Gerardo LoretoRubén GarridoPublished in: CDC/ECC (2005)
Keyphrases
- parallel manipulator
- dynamic model
- degrees of freedom
- inverse dynamics
- neural controller
- control scheme
- neural network
- robust stability
- neural model
- control law
- guaranteed cost
- closed loop
- open loop
- limit cycle
- path planning
- mathematical model
- motion planning
- control system
- object recognition
- parameter uncertainties
- real time