A CDM-backstepping control with nonlinear observer for electrically driven robot manipulator.
F. HaouariN. BaliMohamed TadjineMohamed Seghir BoucheritPublished in: Autom. Control. Comput. Sci. (2016)
Keyphrases
- robot manipulators
- control strategy
- force control
- control scheme
- variable structure
- control of robot manipulators
- inverse kinematics
- trajectory planning
- neural network controller
- end effector
- closed loop
- fuzzy neural network
- dynamic model
- control law
- tracking error
- highly nonlinear
- pid controller
- control method
- optimal control
- genetic algorithm
- predictive control
- support vector
- learning algorithm