Cascaded Feedback Control Scheme for Trajectory Tracking of Robot Manipulator Systems with Actuator Dynamics.
Jinwoo JunKatsuya KanaokaSadao KawamuraPublished in: Adv. Robotics (2010)
Keyphrases
- control scheme
- closed loop
- robot manipulators
- dynamic model
- trajectory tracking
- control system
- control law
- sliding mode
- tracking error
- neural network controller
- desired trajectory
- force control
- controller design
- control strategy
- feedback control
- sliding mode control
- inverse kinematics
- experimental data
- pid controller
- fuzzy controller
- neural network
- variable structure
- chaotic systems
- physical constraints
- optimization algorithm
- support vector machine svm
- stability analysis
- fuzzy logic
- genetic algorithm
- particle swarm optimization pso
- real time