Accelerated Dual Neural Network Controller for Visual Servoing of Flexible Endoscopic Robot With Tracking Error, Joint Motion, and RCM Constraints.
Zhiwei CuiWeibing LiXue ZhangPhilip Wai Yan ChiuZheng LiPublished in: IEEE Trans. Ind. Electron. (2022)
Keyphrases
- visual servoing
- control law
- tracking error
- neural network controller
- control scheme
- control algorithm
- trajectory tracking
- end effector
- closed loop
- physical constraints
- robot manipulators
- nonlinear systems
- control system
- camera motion
- adaptive control
- control strategy
- lyapunov function
- dynamic model
- optimal control
- mobile robot
- vision system
- motion planning
- sliding mode
- variable structure
- pid controller
- adaptive fuzzy
- control method
- real time
- stability analysis
- fuzzy controller
- dynamical systems
- autonomous robots
- robot control
- control parameters
- position and orientation
- optical flow
- moving objects
- neural network