Tracking control with hysteresis compensation for manipulator segments driven by pneumatic artificial muscles.
Frank SchreiberYevgen SklyarenkoKathrin SchluterJan SchmittSven RostAnnika RaatzWalter SchumacherPublished in: ROBIO (2011)
Keyphrases
- tracking control
- degrees of freedom
- control law
- force control
- nonlinear systems
- control system
- closed loop
- motion planning
- robot manipulators
- control scheme
- adaptive neural
- robot arm
- fuzzy controller
- adaptive control
- fuzzy model
- learning rate
- control algorithm
- fuzzy logic
- control method
- control strategy
- path planning
- lyapunov function
- tracking error
- real time
- pose estimation
- image sequences