Nonlinear robust control design for robot manipulators with unmodeled actuator dynamics.

Joseph Kaloust Zhihua Qu Chan H. Ham

Published in: Adv. Robotics (1995)

Keyphrases

robot manipulators
nonlinear dynamics
control system
adaptive controller
dynamic model
highly nonlinear
adaptive neural
control of robot manipulators
multi objective
variable structure
rough sets
membership functions
optimal control
real time
end effector
force control
sliding mode control