Evolutionary robustification of digital trajectory-tracking controllers for robotic manipulators.
B. PorterC. AllaouiPublished in: Neural Parallel Sci. Comput. (1999)
Keyphrases
- trajectory tracking
- robotic manipulator
- visual servoing
- control scheme
- control system
- closed loop
- control law
- sliding mode
- iterative learning control
- mobile robot
- dynamic model
- vision system
- bi directional
- end effector
- iterative learning
- camera motion
- robot control
- genetic algorithm
- control method
- fuzzy logic
- physical constraints
- image space
- variable structure
- control algorithm
- control theory
- optimal control
- robotic systems
- control strategy
- image sequences
- robot manipulators
- autonomous robots
- pid controller
- fuzzy controller
- neural network structure
- experimental data
- dynamic programming