Adaptive friction compensation in a Two-Link Planar Robot Manipulator using a new Lyapunov-based controller.
Mohammad NoorbakhshAlireza YazdizadehPublished in: ICCA (2010)
Keyphrases
- robot manipulators
- control scheme
- tracking error
- control of robot manipulators
- closed loop
- control law
- adaptive control
- force control
- pid controller
- inverse kinematics
- control system
- nonlinear systems
- dynamic model
- disturbance rejection
- control strategy
- controller design
- fuzzy controller
- adaptive fuzzy
- control method
- control theory
- lyapunov function
- end effector
- fuzzy logic
- control algorithm
- stability analysis
- adaptive neural
- fuzzy logic controller
- asymptotic stability
- fuzzy control
- sufficient conditions