A Strict Lyapunov Function for the Finite-Time Regulation of Robot Manipulators with Bounded Inputs.
Rubén Suárez-NuñoEmmanuel Cruz-ZavalaEmmanuel NuñoPublished in: ACC (2019)
Keyphrases
- robot manipulators
- lyapunov function
- control scheme
- tracking error
- control law
- control method
- sufficient conditions
- nonlinear systems
- pid controller
- hopfield neural network
- optimal control
- neural network
- control strategy
- dynamic model
- control system
- closed loop
- sliding mode control
- sliding mode
- fuzzy control
- adaptive control
- fuzzy neural network
- energy function
- stability analysis
- dynamic programming
- fuzzy controller
- control algorithm
- input output
- expert systems
- real time
- feed forward