Synthesis of Stable Fuzzy PD/PID Control Laws for Robotic Manipulators from a Variable Structure System Standpoint.
W. Sardha WijesomaK. R. S. KodagodaPublished in: Fuzzy Days (1999)
Keyphrases
- variable structure
- robotic manipulator
- control law
- control scheme
- control system
- sliding mode
- visual servoing
- closed loop
- pid controller
- control strategy
- control algorithm
- control theory
- nonlinear systems
- adaptive control
- fuzzy controller
- fuzzy control
- robot manipulators
- dynamic model
- control method
- end effector
- real time
- mathematical model
- artificial neural networks
- genetic algorithm
- stability analysis
- fuzzy logic
- adaptive fuzzy
- rule base
- degrees of freedom
- dynamical systems
- experimental data
- fault diagnosis
- machine learning