Open and closed-loop task space trajectory control of redundant robots using learned models.
Bruno D. DamasLorenzo JamoneJosé Santos-VictorPublished in: IROS (2013)
Keyphrases
- closed loop
- open loop
- reference trajectory
- control system
- trajectory tracking
- learned models
- feedback control
- control law
- guaranteed cost
- control loop
- disturbance rejection
- control scheme
- feedback controller
- desired trajectory
- parameter identification
- induction motor
- asymptotic stability
- mobile robot
- force control
- inverted pendulum
- physical constraints
- control strategy
- pid controller
- training data
- real time
- neural network controller
- tracking error
- data sets
- external disturbances
- control method
- robot control
- autonomous robots
- generative model
- position control
- iterative learning control
- visual servoing
- sliding mode
- robotic manipulator
- semi supervised
- adaptive control
- intelligent control