An RBF-based neuro-adaptive control scheme to drive a lower limb rehabilitation robot.
Chengkun CuiGui-Bin BianZeng-Guang HouMin TanDongxu ZhangXiaoliang XieWeiqun WangPublished in: ROBIO (2015)
Keyphrases
- control scheme
- robot manipulators
- robotic manipulator
- control loop
- closed loop
- control strategy
- control system
- control law
- force control
- artificial neural networks
- predictive control
- dynamic model
- neural network
- position control
- mobile robot
- controller design
- fuzzy controller
- tracking error
- pi control
- end effector
- adaptive control
- inverse kinematics
- radial basis function
- pid controller
- vision system
- visual servoing
- induction motor
- fault tolerant control
- basis functions
- sliding mode control
- control architecture
- neuro fuzzy
- sliding mode
- support vector machine
- position and orientation
- mathematical model
- path planning
- real time
- neural network controller
- adaptive fuzzy
- robotic systems