Control of Underactuated Manipulators using Fuzzy Logic Based Switching Controller.
Lanka UdawattaKeigo WatanabeKiyotaka IzumiKazuo KiguchiPublished in: J. Intell. Robotic Syst. (2003)
Keyphrases
- adaptive control
- control system
- control method
- receding horizon
- control law
- control theory
- mechanical systems
- control strategy
- control architecture
- optimal control
- robotic manipulator
- degrees of freedom
- control rules
- motion planning
- control loop
- inverted pendulum
- closed loop
- operating conditions
- disturbance rejection
- master slave
- controller design
- robotic systems
- nonlinear systems
- fuzzy logic control
- control policy
- control strategies
- motion control
- tracking control
- biped robot
- fuzzy logic
- control algorithm
- adaptive neural
- robust stability
- networked control systems
- sliding mode control
- real time
- open loop
- guaranteed cost
- path planning
- mobile robot
- micro controller
- impedance control
- quadruped robot
- cmac neural network
- iterative learning control
- single neuron
- variable structure
- legged robots
- robot control
- process control
- pid controller
- control scheme
- neural network