Robust Adaptive Fuzzy Control Law for Locomotion Control of a Hexapod Robot Actuated by Hydraulic Actuators with Dead Zone.
Ranjit Kumar BaraiKenzo NonamiPublished in: IROS (2006)
Keyphrases
- control law
- nonlinear systems
- control system
- legged robots
- inverted pendulum
- dead zone
- fuzzy controller
- visual servoing
- closed loop
- sliding mode
- control strategy
- variable structure
- fuzzy logic
- trajectory tracking
- control algorithm
- control scheme
- adaptive control
- force control
- control method
- adaptive neural
- autonomous robots
- fuzzy control
- end effector
- real robot
- mobile robot
- motion planning
- reference trajectory
- feedback control
- mathematical model
- real time
- degrees of freedom
- tracking error
- fuzzy logic controller
- robot control
- intelligent control
- robot motion
- robot manipulators
- guaranteed cost
- robotic systems
- optimal control
- fuzzy sets
- neural network
- fuzzy rules
- fuzzy neural network
- neural network controller
- fuzzy systems
- path planning
- fuzzy clustering
- sliding mode control
- dynamic environments
- soft computing
- control parameters
- pid controller