Stable adaptive control for robot trajectory tracking using neural networks.
Fuchun SunZengqi SunRongjun ZhangPublished in: ICRA (1996)
Keyphrases
- trajectory tracking
- adaptive control
- control method
- control law
- neural network
- neural network controller
- closed loop
- nonlinear systems
- control system
- control algorithm
- sliding mode
- variable structure
- visual servoing
- feedback control
- desired trajectory
- control strategy
- neural network structure
- control scheme
- fuzzy logic
- fuzzy control
- control theory
- artificial neural networks
- pid controller
- dynamical systems
- optimal control
- lyapunov function
- fuzzy controller
- motion planning
- autonomous robots
- back propagation
- bi directional
- feed forward
- genetic algorithm
- computer vision
- manufacturing systems
- dynamic model
- control parameters
- iterative learning
- adaptive neural
- chaotic systems
- multilayer perceptron
- reinforcement learning
- real time
- physical constraints
- mobile robot
- least squares
- activation function
- mathematical model
- recurrent neural networks