An adaptive neural control scheme for mechanical manipulators with guaranteed stability.
Oscar BarambonesVictor EtxebarriaPublished in: CIRA (1999)
Keyphrases
- control scheme
- control law
- neural model
- feedback controller
- fault tolerant control
- lyapunov function
- closed loop
- neural controller
- control system
- external disturbances
- control strategy
- limit cycle
- adaptive control
- dynamic model
- nonlinear systems
- predictive control
- pi control
- control theory
- robot manipulators
- control loop
- controller design
- fuzzy controller
- visual servoing
- stability analysis
- induction motor
- robotic manipulator
- pid controller
- sliding mode
- neural network
- linear matrix inequality
- path planning
- variable structure
- robotic systems
- real time
- tracking error
- adaptive fuzzy
- finite element model
- control algorithm
- neural network controller
- neuro fuzzy
- degrees of freedom
- heat exchanger