Tracking Control of Fully-actuated port-Hamiltonian Mechanical Systems using Sliding Manifold and Contraction.
Rodolfo Reyes-BáezArjan van der SchaftBayu JayawardhanaPublished in: CoRR (2016)
Keyphrases
- tracking control
- mechanical systems
- control law
- motion planning
- nonlinear systems
- closed loop
- control algorithm
- adaptive control
- degrees of freedom
- adaptive neural
- control scheme
- path planning
- control strategy
- mobile robot
- control system
- tracking error
- dynamical systems
- optimal control
- fuzzy controller
- humanoid robot
- control method
- manufacturing process
- neural network
- fuzzy model
- multi robot
- learning algorithm