Adaptive sliding mode observer-based integral sliding mode model-free torque control for elastomer series elastic actuator-based manipulator.
Yangchun WeiHaoping WangYang TianPublished in: J. Syst. Control. Eng. (2022)
Keyphrases
- sliding mode
- control strategy
- model free
- control method
- control system
- trajectory tracking
- control scheme
- robot manipulators
- adaptive control
- control algorithm
- variable structure
- control law
- sliding mode control
- closed loop
- sliding mode controller
- adaptive fuzzy
- force control
- reinforcement learning
- position control
- stability analysis
- dynamic model
- optimal control
- robotic manipulator
- pid controller
- nonlinear systems
- reinforcement learning algorithms
- function approximation
- fuzzy logic
- fuzzy control
- visual servoing
- fuzzy controller
- mathematical model
- iterative learning control
- control theory
- policy iteration
- tracking error
- adaptive neural
- fuzzy neural network
- sufficient conditions
- temporal difference
- dc motor
- feedback control
- rl algorithms
- linear combination
- path planning
- desired trajectory
- induction motor