Trajectory tracking performance in task space of robot manipulators: an adaptive neural controller design.
Nardenio Almeida MartinsMaurício F. FigueiredoPaulo César GoncalvesMaycol de AlencarFrancisco Alexandre Ribeiro de AlencarPublished in: IROS (2005)
Keyphrases
- controller design
- robot manipulators
- control scheme
- trajectory tracking
- dynamic model
- closed loop
- sliding mode
- control law
- control system
- control strategy
- nonlinear systems
- pid controller
- sliding mode control
- fuzzy controller
- variable structure
- control strategies
- feedback control
- neural network
- tracking error
- adaptive control
- experimental data
- adaptive fuzzy
- mobile robot