Robustness of a flatness based controller against parametric uncertainties for a class of under-actuated planar manipulators.
Vivek SangwanSunil K. AgrawalPublished in: ACC (2017)
Keyphrases
- control law
- parallel manipulator
- adaptive control
- closed loop
- control algorithm
- control scheme
- open loop
- control theory
- nonlinear systems
- external disturbances
- control system
- optimal control
- position tracking
- neural network
- variable structure
- control method
- motion planning
- planar surfaces
- control architecture
- robotic systems
- adaptive neural
- dynamic model
- limit cycle
- control strategy
- iterative learning control
- reinforcement learning
- learning algorithm