Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions.
Rafael KellyPublished in: IEEE Trans. Autom. Control. (1998)
Keyphrases
- robot manipulators
- adaptive controller
- variable structure
- control scheme
- control of robot manipulators
- inverse kinematics
- sliding mode control
- sliding mode
- dynamic model
- control theory
- adaptive control
- control strategy
- end effector
- tracking error
- control system
- real time
- pid controller
- adaptive neural
- control method
- fuzzy neural network
- linear matrix inequality
- learning algorithm
- neural network