Real-Time Path-Constrained Trajectory Tracking for Robot Manipulators with Energy Budget Optimization.
Danilo V. CunhaFernando C. LizarraldePublished in: CASE (2019)
Keyphrases
- robot manipulators
- trajectory tracking
- sliding mode
- real time
- dynamic model
- control scheme
- closed loop
- wheeled mobile robots
- control system
- bi directional
- pid controller
- sliding mode control
- control law
- global optimization
- optimization algorithm
- iterative learning
- variable structure
- control strategy
- physical constraints
- fault diagnosis
- multi objective
- genetic algorithm