Neural-Learning Trajectory Tracking Control of Flexible-Joint Robot Manipulators with Unknown Dynamics.
Shuyang ChenJohn T. WenPublished in: IROS (2019)
Keyphrases
- robot manipulators
- trajectory tracking control
- neural learning
- sliding mode
- control scheme
- dynamic model
- multi layered
- sliding mode control
- closed loop
- control system
- incremental learning
- neural network
- control law
- control strategy
- variable structure
- fuzzy controller
- mobile robot
- tracking error
- pid controller
- evolutionary algorithm
- stability analysis
- fuzzy control
- adaptive control
- fuzzy neural network