A Two-Layer Trajectory Tracking Control Scheme of Manipulator Based on ELM-SMC for Autonomous Robotic Vehicle.
Xingyu WangDazhi WangMingtian DuKeling SongYongliang NiYanming LiPublished in: IEEE Trans Autom. Sci. Eng. (2024)
Keyphrases
- trajectory tracking
- control scheme
- autonomous robotic
- closed loop
- control law
- dynamic model
- control system
- sliding mode
- semi autonomous
- robot manipulators
- neural network controller
- control strategy
- pid controller
- nonlinear systems
- feedback control
- control method
- visual servoing
- real time
- fuzzy controller
- desired trajectory
- tracking error
- adaptive control
- variable structure
- bi directional
- fuzzy control
- experimental data
- control theory
- real robot
- control algorithm
- mathematical model
- artificial neural networks
- computer vision