Backstepping sliding mode controller for a co-ordinated links (COOL) robot arm.
Nabanita AdhikaryChitralekha MahantaPublished in: VSS (2014)
Keyphrases
- robot arm
- sliding mode
- control law
- nonlinear systems
- sliding mode control
- control strategy
- stability analysis
- adaptive fuzzy
- closed loop
- control strategies
- motion planning
- control system
- control algorithm
- variable structure
- adaptive control
- control scheme
- adaptive neural
- control theory
- optimal control
- fuzzy systems
- control method
- lyapunov function
- fuzzy control
- learning rate
- neural network
- position and orientation
- fuzzy model
- dynamical systems
- input output
- autonomous robots
- real time
- control parameters
- linear model
- feedback control
- degrees of freedom
- evolutionary computation
- dynamic programming
- evolutionary algorithm