Nonlinear optimal control for a 4-DOF SCARA robotic manipulator.
Gerasimos G. RigatosMasoud AbbaszadehKrishna BusawonJorge PomaresPublished in: Robotica (2023)
Keyphrases
- optimal control
- robotic manipulator
- class of nonlinear systems
- control scheme
- control strategy
- lyapunov function
- visual servoing
- control law
- linear quadratic
- dynamic programming
- control problems
- continuous stirred tank reactor
- robotic systems
- degrees of freedom
- end effector
- control system
- feedback control
- reinforcement learning
- position control
- optimal control problems
- fuzzy controller
- closed loop
- multiple models
- robot manipulators
- linear systems
- real time
- video sequences
- vision system
- mathematical model
- control strategies
- dynamic model
- control algorithm