Sliding mode nonlinear disturbance observer-based adaptive back-stepping control of a humanoid robotic dual manipulator.
Keqiang BaiXuantao GongSihai ChenYingtong WangZhigui LiuPublished in: Robotica (2018)
Keyphrases
- sliding mode
- variable structure
- trajectory tracking
- adaptive control
- external disturbances
- robot manipulators
- sliding mode control
- control method
- stability analysis
- control law
- control scheme
- adaptive neural
- robotic manipulator
- control strategy
- neural network controller
- robotic arm
- sliding mode controller
- control system
- control theory
- adaptive fuzzy
- closed loop
- motion planning
- fuzzy control
- sliding surface
- tracking error
- nonlinear systems
- visual servoing
- degrees of freedom
- control algorithm
- real time
- hand eye
- robotic systems
- iterative learning control
- feedback control
- dynamic model
- mobile robot
- fuzzy controller
- iterative learning
- path planning
- dynamic environments
- humanoid robot
- neural network
- dynamical systems
- reinforcement learning
- end effector