Lyapunov-based piezoelectric control of flexible cartesian robot manipulators.
M. DadfarniaNader JaliliBin XianDarren M. DawsonPublished in: ACC (2003)
Keyphrases
- robot manipulators
- control scheme
- adaptive controller
- tracking error
- control of robot manipulators
- control theory
- sliding mode control
- end effector
- inverse kinematics
- adaptive control
- sliding mode
- closed loop
- control strategy
- control law
- dynamic model
- control system
- stability analysis
- variable structure
- pid controller
- control method
- nonlinear systems
- fuzzy controller
- dynamical systems
- real time
- sufficient conditions
- decision making
- neural network