Simulation of a hybrid adaptive-learning control law for a rigid link electrically driven robot manipulator.
Hüray UguzHüseyin CanbolatPublished in: Robotica (2006)
Keyphrases
- adaptive learning
- robot manipulators
- control law
- control scheme
- force control
- closed loop
- sliding mode
- tracking error
- end effector
- lyapunov stability
- control strategy
- control system
- neural network controller
- dynamic model
- nonlinear systems
- inverse kinematics
- adaptive control
- variable structure
- visual servoing
- control algorithm
- mathematical model
- learning environment
- sliding mode control
- pid controller
- e learning
- dynamical systems
- concept maps
- trajectory tracking
- fuzzy controller
- optimal control
- learning resources
- learning objects
- reinforcement learning
- student model
- motion planning
- genetic algorithm