Variable structure control of robots with nonlinear friction and backlash at the joints.
Abílio AzenhaJ. A. Tenreiro MachadoPublished in: ICRA (1996)
Keyphrases
- variable structure
- control theory
- adaptive control
- sliding mode
- control strategy
- control law
- control method
- degrees of freedom
- fuzzy control
- control system
- robot manipulators
- autonomous robots
- dynamic environments
- feedback control
- optimal control
- pid controller
- mobile robot
- nonlinear systems
- multi robot
- fuzzy systems
- sliding mode control
- artificial neural networks
- expert systems
- genetic algorithm
- linear systems
- motion planning
- neural network
- robotic systems
- genetic programming
- mathematical model
- human body