A Sliding Mode Control Architecture for Human-Manipulator Cooperative Surface Treatment Tasks.
Luis GraciaJ. Ernesto SolanesPau Muñoz-BenaventJaime Valls MiróCarlos Pérez-VidalJosep TorneroPublished in: IROS (2018)
Keyphrases
- control architecture
- sliding mode
- control strategy
- cooperative
- robotic systems
- control system
- robot manipulators
- trajectory tracking
- force control
- control method
- control law
- control scheme
- autonomous agents
- stability analysis
- variable structure
- control algorithm
- d objects
- sliding mode control
- optimal control
- fuzzy controller
- closed loop
- vision system
- dynamic model
- fuzzy neural network
- path planning
- multi agent systems
- multi robot
- real time
- fuzzy control
- degrees of freedom
- mathematical model
- fuzzy sets
- mobile robot
- computer vision