Sliding mode based fractional-order iterative learning control for a nonlinear robot manipulator with bounded disturbance.
Iman GhasemiAbolfazl Ranjbar NoeiJalil SadatiPublished in: Trans. Inst. Meas. Control (2018)
Keyphrases
- robot manipulators
- sliding mode
- iterative learning control
- trajectory tracking
- variable structure
- pid controller
- control scheme
- sliding mode control
- control system
- closed loop
- control method
- fuzzy control
- particle swarm optimization
- rbf neural network
- dynamic model
- pso algorithm
- intelligent control
- control strategy
- control parameters
- neural network
- iterative learning
- tracking error
- genetic algorithm
- control law
- stability analysis
- feedback control
- bp neural network
- control theory
- differential evolution
- fuzzy logic
- mobile robot