Tracking control of a 3-DOF rehabilitation robot actuated by pneumatic muscle actuators using adaptive self-organising fuzzy sliding mode control.
Ming-Kung ChangShou-Yee LinTsan-Hsiu YuanPublished in: Int. J. Intell. Syst. Technol. Appl. (2011)
Keyphrases
- tracking control
- control law
- degrees of freedom
- motion planning
- force control
- control system
- adaptive control
- end effector
- nonlinear systems
- robot arm
- closed loop
- adaptive neural
- control strategy
- autonomous robots
- control algorithm
- path planning
- control scheme
- tracking error
- robot manipulators
- pose estimation
- mathematical model
- mobile robot
- feedback control
- lyapunov function
- adaptive fuzzy
- fuzzy controller
- controller design
- humanoid robot
- optimal control
- fuzzy control
- real time
- control strategies
- robotic systems
- rule base
- dynamical systems
- fuzzy logic
- contact force
- image sequences
- decision making