Digital adaptive control of space robot manipulator having input constraints.
Shinichi SagaraYuichiro TairaRyozo KatohTadashi YamashitaFujio OhkawaToshinori SuehiroPublished in: IROS (1998)
Keyphrases
- adaptive control
- robot manipulators
- adaptive controller
- control method
- variable structure
- inverse kinematics
- nonlinear systems
- feedback control
- control scheme
- control law
- pid controller
- control of robot manipulators
- dynamic environments
- trajectory planning
- chaotic systems
- tracking error
- reinforcement learning
- dynamic model
- control strategy
- control algorithm
- multi robot
- dynamical systems
- multi modal
- machine learning
- real time