PD manipulator controller with fuzzy adaptive gravity compensation.
Lei PanPeng-Yung WooPublished in: J. Field Robotics (2000)
Keyphrases
- adaptive fuzzy
- fuzzy controller
- control system
- control method
- adaptive control
- fuzzy sets
- pi control
- control algorithm
- fuzzy logic
- adaptive neural
- variable structure
- degrees of freedom
- feedback control
- sliding mode
- robot manipulators
- takagi sugeno
- real time
- fuzzy logic controller
- nonlinear systems
- fuzzy control
- controller design
- fuzzy numbers
- membership functions
- sliding mode control
- fuzzy logic control
- inertia weight particle swarm optimization
- robotic manipulator
- fuzzy neural network
- fuzzy clustering
- neural network
- contact force
- inverted pendulum
- fuzzy model
- tracking error
- force control
- pid controller
- trajectory tracking
- internal model control