A Smooth Robust Nonlinear Controller for Robot Manipulators with Joint Stick-Slip Friction.
Lilong CaiGangbing SongPublished in: ICRA (3) (1993)
Keyphrases
- robot manipulators
- adaptive controller
- variable structure
- control scheme
- sliding mode control
- force control
- pid controller
- neural network controller
- control of robot manipulators
- dynamic model
- inverse kinematics
- trajectory planning
- disturbance rejection
- sliding mode
- adaptive control
- end effector
- tracking error
- robust stability
- control system
- neural network
- control strategy
- control law
- fuzzy control
- global optimization
- regression model
- evolutionary algorithm
- optimal control
- single neuron
- support vector
- control method