Safe and Fast Tracking Control on a Robot Manipulator: Robust MPC and Neural Network Control.
Julian NubertJohannes KöhlerVincent BerenzFrank AllgöwerSebastian TrimpePublished in: CoRR (2019)
Keyphrases
- tracking control
- robot manipulators
- adaptive neural
- neural network
- nonlinear systems
- control law
- tracking error
- closed loop
- dynamic model
- control scheme
- fuzzy neural network
- feed forward
- adaptive fuzzy
- feedback control
- lyapunov function
- optimal control
- fuzzy model
- control system
- adaptive control
- pid controller
- robust tracking
- artificial neural networks
- evolutionary algorithm
- experimental data
- input output
- real time
- controller design
- fuzzy control
- fuzzy systems
- fuzzy controller
- control method
- control strategy
- neural network model