A novel robust adaptive control algorithm with finite-time online parameter estimation of a humanoid robot arm.
Muhammad Nasiruddin MahyuddinSaid Ghani KhanGuido HerrmannPublished in: Robotics Auton. Syst. (2014)
Keyphrases
- parameter estimation
- control algorithm
- robot arm
- control law
- motion planning
- control system
- control strategy
- maximum likelihood
- control strategies
- markov random field
- model selection
- control method
- nonlinear systems
- parameter estimation algorithm
- em algorithm
- least squares
- random fields
- position and orientation
- adaptive control
- degrees of freedom
- humanoid robot
- fuzzy controller
- expectation maximization
- real time
- closed loop
- fuzzy control
- path planning
- vision system
- mobile robot
- genetic algorithm
- machine learning