Robustness of PID-controlled Manipulators vis-à-vis Actuator Dynamics and External Disturbances.
Antoine ChailletAntonio LoríaRafael KellyPublished in: Eur. J. Control (2007)
Keyphrases
- external disturbances
- control law
- control system
- closed loop
- control scheme
- control algorithm
- pid controller
- adaptive control
- dc motor
- control method
- nonlinear systems
- control strategy
- control theory
- feedback control
- adaptive fuzzy
- fuzzy logic controller
- dynamic model
- lyapunov function
- tracking error
- fuzzy logic
- real time
- fuzzy controller
- path planning
- optimal control
- sliding mode
- experimental data
- robot manipulators
- support vector