Fractional-order Sliding Mode Based Variable Stiffness and Damping Impedance Control with Disturbance Observer.
Zhiqiang MaGangqi DongPublished in: CIS/RAM (2019)
Keyphrases
- fractional order
- impedance control
- sliding mode
- force control
- pid controller
- robot manipulators
- control strategy
- feedback control
- optimal control
- control scheme
- control law
- position control
- closed loop
- sliding mode control
- control method
- control system
- differential equations
- stability analysis
- nonlinear systems
- model free
- dynamical systems
- particle swarm optimization
- fuzzy control
- adaptive control
- control algorithm
- control parameters
- transfer function
- fuzzy controller
- mathematical model
- dynamic model
- operating conditions
- dynamic programming
- fuzzy logic controller
- fuzzy logic
- path planning
- inverted pendulum
- regression model
- pso algorithm
- real time