Joint Torque Feedback-based Decentralized Neuro-optimal Control of Input-constrained Modular Robot Manipulator System.
Bing MaYuanchun LiPublished in: RCAR (2021)
Keyphrases
- optimal control
- robot manipulators
- control scheme
- control strategy
- force control
- feedback loop
- position control
- feedback control
- control problems
- control of robot manipulators
- inverse kinematics
- dynamic programming
- dynamic model
- control algorithm
- closed loop
- tracking error
- control law
- control system
- lyapunov function
- sliding mode control
- mathematical model
- control method
- infinite horizon
- fuzzy controller
- control strategies
- end effector
- pid controller
- reinforcement learning
- optimal control problems
- fuzzy neural network
- neural network
- neuro fuzzy
- artificial neural networks
- sliding mode
- learning algorithm
- data mining
- adaptive control
- experimental data
- fault diagnosis