Robust trajectory tracking of Master-Slave surgery robot system based on PD with Integral Sliding Mode Control.
Hansoul KimMinho HwangDonghoon BaekDong-Soo KworrPublished in: UR (2018)
Keyphrases
- trajectory tracking
- sliding mode
- sliding mode control
- master slave
- robot manipulators
- adaptive fuzzy
- control strategy
- closed loop
- control system
- adaptive neural
- dynamic model
- bi directional
- visual servoing
- control law
- physical constraints
- control method
- iterative learning
- support vector regression
- control algorithm
- stability analysis
- autonomous robots
- nonlinear systems
- fuzzy logic