Robust adaptive control of a micro telemanipulation system using sliding mode-based force estimation.
Mohammad MotamediGholamreza VossoughiMohammad Taghi AhmadianSeyed Mehdi RezaeiMohammad ZareinejadMozafar SaadatPublished in: ACC (2010)
Keyphrases
- sliding mode
- control strategy
- sliding mode control
- variable structure
- stability analysis
- robot manipulators
- trajectory tracking
- control law
- sliding surface
- sliding mode controller
- control system
- control scheme
- adaptive control
- control theory
- dynamic model
- adaptive fuzzy
- mathematical model
- optimal control
- control method
- fuzzy control
- differential equations
- closed loop
- evolutionary algorithm
- neural controller
- genetic algorithm