Iterative learning in variable structure position/force hybrid control of manipulators.
Abílio AzenhaPublished in: Robotica (2000)
Keyphrases
- variable structure
- adaptive control
- control law
- position control
- iterative learning
- trajectory tracking
- control scheme
- sliding mode
- closed loop
- control theory
- control system
- end effector
- iterative learning control
- control strategy
- control method
- nonlinear systems
- visual servoing
- pid controller
- degrees of freedom
- robot manipulators
- control algorithm
- dynamic model
- robotic systems
- reinforcement learning
- optimal control
- dynamic environments
- sliding mode control
- fuzzy controller
- stability analysis
- incremental learning
- input output
- learning algorithm
- error reduction
- adaptive fuzzy
- real time
- sufficient conditions
- supervised learning
- fuzzy logic