Adjoint Jacobian closed-loop kinematic control of robots.
Dragomir N. NenchevYuichi TsumakiMasaru UchiyamaPublished in: ICRA (1996)
Keyphrases
- closed loop
- open loop
- control system
- feedback control
- control law
- guaranteed cost
- optimal control
- control loop
- disturbance rejection
- control scheme
- trajectory tracking
- force control
- reference trajectory
- feedback controller
- induction motor
- parameter identification
- robot control
- control theory
- control strategy
- inverted pendulum
- adaptive control
- control strategies
- physical constraints
- asymptotic stability
- pid controller
- control algorithm
- external disturbances
- mobile robot
- parameter uncertainties
- intelligent control
- real time
- controller design
- dc motor
- process control
- robotic systems
- linear quadratic
- fuzzy logic
- flight test
- autonomous robots
- robotic manipulator
- networked control systems
- bi directional
- degrees of freedom
- mathematical model
- dynamic programming
- neural network