Joint tracking controller for multi-link flexible robot using disturbance observer and parameter adaptation scheme.
Joono CheongYoungil YoumWan Kyun ChungPublished in: J. Field Robotics (2002)
Keyphrases
- desired trajectory
- control method
- closed loop
- trajectory tracking
- iterative learning control
- real time
- central pattern generator
- reference trajectory
- position and orientation
- tracking error
- control system
- mobile robot
- control law
- control architecture
- motion control
- robot manipulators
- control scheme
- control strategy
- control algorithm
- iterative learning
- adaptive control
- initial conditions
- neural network controller
- chaotic systems
- physical constraints
- dynamic model
- human robot interaction
- particle filter
- adaptive fuzzy
- external disturbances
- path planning
- kalman filter
- motion model
- biped walking
- pid controller
- mobile robot localization
- optical flow
- kinematic model
- force control
- control signals
- robot arm
- visual servoing
- optimal control
- autonomous robots