Powered upper-limb control using passivity-based nonlinear disturbance observer for unknown payload carrying applications.
Minjun KimWoongyong LeeJae Yeon ChoiYong Sik ParkSung Ho ParkGoo Bong ChungKyung-Lyong HanIl Seop ChoiIl Hong SuhYoungjin ChoiWan Kyun ChungPublished in: ICRA (2016)
Keyphrases
- sufficient conditions
- external disturbances
- control law
- closed loop
- sliding mode
- tracking control
- model predictive control
- sliding mode control
- highly nonlinear
- control scheme
- control system
- impedance control
- stability analysis
- control theory
- adaptive fuzzy
- nonlinear dynamics
- control strategies
- control method
- high speed
- fuzzy logic controller
- adaptive neural
- predictive control
- adaptive control
- control strategy
- trajectory tracking
- neural network controller
- dynamical systems
- real time