Direct fuzzy adaptive control and nonparametric identification of robot manipulator with elastic joints.
Jurek Z. SasiadekSteve UlrichAdam KrzyzakPublished in: MMAR (2017)
Keyphrases
- robot manipulators
- adaptive control
- variable structure
- adaptive controller
- control method
- control scheme
- control of robot manipulators
- pid controller
- nonlinear systems
- fuzzy controller
- feedback control
- fuzzy neural network
- control law
- inverse kinematics
- adaptive fuzzy
- trajectory planning
- control strategy
- fuzzy logic
- fuzzy sets
- dynamic model
- degrees of freedom
- control system
- membership functions
- end effector
- soft computing
- fuzzy clustering
- dynamic environments
- fuzzy rules
- reinforcement learning
- chaotic systems
- joint angles
- fuzzy numbers
- closed loop
- dynamic programming
- fuzzy control
- control algorithm
- human motion
- evolutionary algorithm
- neural network