A nonregressor nonlinear disturbance observer-based adaptive control scheme for an underwater manipulator.
Mohan SanthakumarPublished in: Adv. Robotics (2013)
Keyphrases
- control scheme
- multi input multi output
- robot manipulators
- external disturbances
- control system
- robotic manipulator
- feedback controller
- closed loop
- neural network controller
- control strategy
- control law
- dynamic model
- tracking error
- neural model
- fuzzy controller
- inverse kinematics
- controller design
- control method
- predictive control
- pid controller
- force control
- trajectory tracking
- sliding mode control
- pi control
- adaptive control
- adaptive fuzzy
- control loop
- induction motor
- degrees of freedom
- pid control
- end effector
- feedback control
- fuzzy control
- human arm
- sliding mode
- radial basis function neural network
- heat exchanger
- path planning
- mathematical model