A new variable structure controller for robot manipulators with a nonlinear PID sliding surface.
Khaled R. AtiaPublished in: Robotica (2013)
Keyphrases
- variable structure
- robot manipulators
- pid controller
- sliding surface
- control scheme
- sliding mode
- control system
- closed loop
- control method
- fuzzy control
- sliding mode control
- control strategy
- adaptive control
- particle swarm optimization
- control law
- neural network controller
- dynamic model
- fuzzy logic controller
- control algorithm
- rbf neural network
- control parameters
- bp neural network
- sliding mode controller
- control theory
- pso algorithm
- fuzzy controller
- feedback control
- linear systems
- adaptive fuzzy