Nonlinear underwater robot controller design with adaptive disturbance prediction and smoother.
Xin SongFang LiuZaojian ZouYue Min ZhuJian-Chuan YinFeng XuPublished in: Int. J. Comput. Intell. Syst. (2011)
Keyphrases
- controller design
- feedback controller
- nonlinear systems
- mobile robot
- control scheme
- control system
- modular robots
- control strategies
- tracking error
- adaptive control
- robot manipulators
- dynamic model
- autoregressive conditional heteroscedasticity
- real time
- prediction model
- path planning
- humanoid robot
- control strategy
- lyapunov function
- control law
- closed loop
- pid controller
- feedback control
- fuzzy logic controller
- computer simulation
- particle swarm optimization
- genetic algorithm