Adaptive Finite-Time Control Scheme for Teleoperation With Time-Varying Delay and Uncertainties.
Haochen ZhangAiguo SongHuijun LiDapeng ChenLiqiang FanPublished in: IEEE Trans. Syst. Man Cybern. Syst. (2022)
Keyphrases
- control scheme
- pi control
- multi input multi output
- robotic manipulator
- closed loop
- smith predictor
- control system
- control loop
- control strategy
- dynamic model
- external disturbances
- fuzzy controller
- robot manipulators
- controller design
- limit cycle
- predictive control
- control law
- tracking error
- induction motor
- global exponential stability
- pid controller
- feedback control
- pi controller
- control architecture
- neural model
- force control
- sliding mode
- control algorithm
- neural network controller
- adaptive neural control
- neural network
- trajectory tracking
- sliding mode control
- end effector
- fuzzy logic controller
- robotic systems