Closed-loop commutation control of an MRI-powered robot actuator.
Christos BergelesPanagiotis VartholomeosLei QinPierre E. DupontPublished in: ICRA (2013)
Keyphrases
- closed loop
- trajectory tracking
- control system
- open loop
- control loop
- force control
- reference trajectory
- position control
- control law
- feedback control
- control scheme
- visual servoing
- guaranteed cost
- disturbance rejection
- fuzzy control
- parameter identification
- robot manipulators
- induction motor
- dc motor
- control method
- feedback controller
- pid controller
- neural network controller
- control architecture
- mobile robot
- robot control
- robotic manipulator
- desired trajectory
- end effector
- control strategy
- external disturbances
- control algorithm
- robotic systems
- intelligent control
- iterative learning control
- linear quadratic
- sliding mode
- asymptotic stability
- vision system
- force feedback
- robot arm
- fuzzy logic
- control theory