Adaptive Neuro-Fuzzy Control of a Spherical Rolling Robot Using Sliding-Mode-Control-Theory-Based Online Learning Algorithm.
Erkan KayacanErdal KayacanHerman RamonWouter SaeysPublished in: IEEE Trans. Cybern. (2013)
Keyphrases
- control theory
- neuro fuzzy
- variable structure
- sliding mode
- control law
- trajectory tracking
- adaptive control
- learning algorithm
- autonomous robots
- robot manipulators
- humanoid robot
- control system
- closed loop
- control strategy
- neural controller
- fuzzy rules
- dynamical systems
- motion planning
- nonlinear systems
- mobile robot
- control scheme
- takagi sugeno
- control algorithm
- fuzzy inference system
- back propagation
- robot control
- reinforcement learning
- real time
- machine learning
- robotic systems
- linear systems
- control method
- fuzzy control
- sliding mode control
- fuzzy systems
- stability analysis
- neural network controller
- vision system
- path planning
- differential equations
- fuzzy neural network
- lyapunov function
- mathematical model
- dynamic model
- neural network