Adaptive finite-time tracking control for joint position constrained robot manipulators with actuator faults.
Xu JinPublished in: ACC (2016)
Keyphrases
- robot manipulators
- tracking control
- tracking error
- end effector
- control scheme
- nonlinear systems
- adaptive neural
- inverse kinematics
- closed loop
- control law
- control system
- fault diagnosis
- fuzzy neural network
- position and orientation
- adaptive control
- neural network
- pid controller
- dynamic model
- adaptive fuzzy
- feed forward
- experimental data
- computational intelligence
- genetic algorithm