Classical Sliding and Generalized Variable Structure Controls for a Manipulator Robot Arm with Pneumatic Artificial Muscles.
Lamia MelkouMustapha HamerlainPublished in: Int. J. Syst. Dyn. Appl. (2014)
Keyphrases
- robot arm
- variable structure
- inverse kinematics
- control law
- end effector
- control system
- motion planning
- robot manipulators
- nonlinear systems
- force control
- adaptive control
- closed loop
- sliding mode
- degrees of freedom
- control theory
- control algorithm
- control strategy
- fuzzy control
- control scheme
- control method
- position and orientation
- control strategies
- pid controller
- optimal control
- path planning
- fuzzy logic
- linear model
- control parameters
- dynamical systems
- real time
- mobile robot
- experimental data
- mathematical model
- multi objective
- knowledge base
- computer vision
- machine learning
- neural network