Nonlinear disturbance observer-based direct joint control for manipulation of a flexible payload with output constraints.
Shuyang LiuZhijie LiuYuanchun LiWei HePublished in: Int. J. Control (2023)
Keyphrases
- feedback controller
- tracking control
- external disturbances
- adaptive neural
- control scheme
- constrained optimization
- control signals
- highly nonlinear
- nonlinear dynamics
- feedback control
- control theory
- closed loop
- constraint satisfaction problems
- lightweight
- reinforcement learning
- physical constraints
- linear constraints
- control method
- robotic systems
- variable structure