Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization.
Mohammad Javad MahmoodabadiA. ZiaeiPublished in: J. Robotics (2019)
Keyphrases
- fuzzy controller
- robot manipulators
- control scheme
- nonlinear systems
- inverse dynamics
- particle swarm optimization
- fuzzy control
- fuzzy logic controller
- pid controller
- control strategy
- fuzzy neural network
- control system
- input output
- closed loop
- fuzzy model
- pso algorithm
- inverse kinematics
- control method
- membership functions
- differential evolution
- dynamic model
- end effector
- control law
- optimal control
- rule base
- fuzzy rules
- mathematical model
- fuzzy logic
- fuzzy systems
- neural network
- control algorithm
- convergence speed
- parallel manipulator
- genetic algorithm