Two-Stages Sliding Controller for Manipulators with Time-Varying Inertia Links.
Guy JumariePublished in: Robotica (1989)
Keyphrases
- adaptive control
- control law
- closed loop
- control system
- control method
- multistage
- control algorithm
- control architecture
- variable structure
- degrees of freedom
- real time
- parallel manipulator
- path planning
- control scheme
- controller design
- robotic systems
- neural network
- control strategy
- dynamic model
- link structure
- link analysis
- nonlinear systems
- feedback control
- optimal control
- master slave
- contact force
- dynamic programming
- mathematical model
- sliding window
- global exponential stability
- robotic manipulator
- multiple stages