SDRE-Based Suboptimal Controller for Manipulator Control.
Slawomir StepienPaulina SuperczynskaOskar LindenauMarcin WalesaPublished in: RoMoCo (2019)
Keyphrases
- control system
- control method
- robotic manipulator
- trajectory tracking
- control strategy
- closed loop
- robot manipulators
- adaptive control
- control algorithm
- control theory
- dynamic model
- optimal control
- open loop
- controller design
- force control
- disturbance rejection
- pid controller
- control loop
- real time
- control scheme
- fuzzy controller
- control architecture
- adaptive neural
- tracking control
- inverted pendulum
- control parameters
- fuzzy logic
- operating conditions
- feedback control
- motion control
- robotic arm
- variable structure
- guaranteed cost
- iterative learning control
- control rules
- sliding mode control
- robust stability
- pid control
- lyapunov function
- physical constraints
- master slave
- control policy
- fuzzy control
- networked control systems
- computationally efficient
- sliding mode
- fuzzy logic controller
- control strategies
- robotic systems
- hand eye
- quadruped robot