Barrier-Lyapunov -Function-Based Backstepping Adaptive Hybrid Force/Position Control for Manipulator with Force and Position Constraints.
Mohammad AdinehvandChow Yin LaiReza HoseinnezhadPublished in: ACC (2021)
Keyphrases
- position control
- control law
- force control
- lyapunov function
- control scheme
- robotic manipulator
- closed loop
- end effector
- adaptive control
- control strategy
- nonlinear systems
- control system
- control method
- robot arm
- robot manipulators
- visual servoing
- pid controller
- degrees of freedom
- inverse kinematics
- optimal control
- control algorithm
- control strategies
- sufficient conditions
- dynamic model
- vision system
- fuzzy controller
- mathematical model
- robotic arm
- motion planning
- fuzzy control
- neural network
- controller design
- real time
- learning rate
- mobile robot
- dc motor
- genetic algorithm
- autonomous robots
- fuzzy logic
- linear matrix inequality
- reinforcement learning