Nonlinear control of a nano-hexacopter carrying a manipulator arm.
Jonatan Uziel Alvarez-MuñozNicolas MarchandJosé-Fermi Guerrero-CastellanosA. E. Lopez-LunaJosé Juan Téllez-GuzmánJ. Colmenares-VazquezSylvain DurandJonathan DumonG. HasanPublished in: IROS (2015)
Keyphrases
- robotic arm
- control system
- control method
- degrees of freedom
- highly nonlinear
- tracking control
- adaptive neural
- master slave
- robotic manipulator
- neural network
- variable structure
- control strategy
- robot manipulators
- adaptive control
- computer controlled
- force control
- end effector
- motion planning
- path planning
- lyapunov function
- sufficient conditions
- genetic algorithm
- data sets
- trajectory tracking
- human arm
- steady state error