Adjustable-Rate Semiglobally Exponential Observer/ Controller for Tracking in Robots with Actuator Dynamics and only Link Position Measurement.
Srinivasulu MalagariBrian J. DriessenPublished in: Control. Intell. Syst. (2010)
Keyphrases
- desired trajectory
- position and orientation
- control method
- closed loop
- tracking error
- control system
- trajectory tracking
- iterative learning control
- external disturbances
- dc motor
- position estimation
- control algorithm
- control law
- control scheme
- reference trajectory
- mobile robot
- real time
- dynamic model
- joint angles
- position control
- neural network controller
- adaptive control
- physical constraints
- vision system
- particle filter
- nonlinear systems
- inverse kinematics
- motion control
- pose estimation
- tracking accuracy
- fuzzy controller
- lyapunov function
- control strategy
- neural network
- visual tracking
- motion model
- controller design
- pid controller
- appearance model
- position information
- reinforcement learning
- path planning