Projected PID controller for Tendon-Driven Manipulators actuated by magneto-rheological clutches.
Joel ViauPatrick ChouinardJean-Philippe Lucking BiguéGuifre JulioFrançois MichaudShingo ShimodaJean-Sébastien PlantePublished in: IROS (2015)
Keyphrases
- pid controller
- mr damper
- force control
- control law
- closed loop
- control scheme
- robot manipulators
- control system
- electro hydraulic
- highly nonlinear
- adaptive control
- control method
- open loop
- control strategy
- dc motor
- pid control
- fuzzy logic controller
- fractional order
- particle swarm optimization
- feedback control
- control algorithm
- control parameters
- active control
- fuzzy control
- induction motor
- fuzzy controller
- strong robustness
- pi controller
- proportional integral derivative
- fuzzy logic
- rbf neural network
- artificial neural networks
- clustering algorithm
- fuzzy pid
- limit cycle
- learning algorithm
- dynamic characteristics
- intelligent control
- real time
- mathematical model
- degrees of freedom
- dynamic model