Stability analysis of the operational space control for industrial robots using their own joint velocity PI controllers.
Karla CamarilloRicardo CampaVíctor SantibáñezJavier Moreno-ValenzuelaPublished in: Robotica (2008)
Keyphrases
- stability analysis
- fuzzy control systems
- industrial robots
- sliding mode
- nonlinear systems
- control system
- controller design
- inverted pendulum
- gravitational search algorithm
- adaptive control
- fault tolerant control
- adaptive fuzzy
- fuzzy control
- control strategy
- search space
- data mining
- variable structure
- control law
- optimal control
- degrees of freedom
- control theory
- rule sets
- intelligent systems
- fuzzy logic
- kinematic model
- decision making
- neural network
- real time