Nonlinear and Adaptive Control of Force and Compliance in Manipulators.

Homayoun Seraji

Published in: Int. J. Robotics Res. (1998)

Keyphrases

adaptive control
variable structure
adaptive controller
control method
nonlinear systems
feedback control
dynamic environments
control law
reinforcement learning
autonomous control
lyapunov function
chaotic systems
control strategy
force feedback
contact force
control system
genetic algorithm
real time