A Gain-Switching Control Scheme for Position-Error-Based Bilateral Teleoperation: Contact Stability Analysis and Controller Design.
Liya NiDavid W. L. WangPublished in: Int. J. Robotics Res. (2004)
Keyphrases
- controller design
- stability analysis
- control scheme
- nonlinear systems
- control law
- closed loop
- robotic manipulator
- end effector
- tracking error
- force feedback
- fault tolerant control
- fuzzy controller
- control system
- robot manipulators
- control strategy
- adaptive control
- dynamic model
- sliding mode
- fuzzy systems
- fuzzy control
- adaptive fuzzy
- lyapunov function
- feedback controller
- pi controller
- learning rate
- fuzzy model
- pid controller
- feedback control
- artificial intelligence
- soft computing
- evolutionary algorithm
- decision making