A robust MPC/ISM hierarchical multi-loop control scheme for robot manipulators.

Antonella Ferrara Gian Paolo Incremona Lalo Magni

Published in: CDC (2013)

Keyphrases

robot manipulators
control scheme
closed loop
dynamic model
inverse kinematics
control system
force control
sliding mode control
control law
pid controller
control strategy
predictive control
sliding mode
control loop
fuzzy controller
end effector
feedback control
control theory
tracking error
control algorithm