Closed-loop compensation of kinematic error in harmonic drives for precision control applications.
Prasanna S. GandhiFathi H. GhorbelPublished in: IEEE Trans. Control. Syst. Technol. (2002)
Keyphrases
- closed loop
- open loop
- control system
- feedback control
- guaranteed cost
- control loop
- control law
- tracking error
- disturbance rejection
- control scheme
- feedback controller
- trajectory tracking
- induction motor
- force control
- inverted pendulum
- reference trajectory
- process control
- control theory
- external disturbances
- dc motor
- fuzzy logic
- pid controller
- parameter identification
- nonlinear systems
- control strategy
- linear quadratic
- control method
- control strategies
- fuzzy controller
- controller design
- position control
- asymptotic stability
- intelligent control
- adaptive control
- fuzzy control
- optimal control
- degrees of freedom
- parameter uncertainties
- chaotic systems
- flight test
- end effector
- robot manipulators
- real time
- control algorithm
- neural network