Adaptive Control for Revolute Joints Robot Manipulator with Uncertain/Unknown Dynamic Parameters and in Presence of Disturbance in Control Input.
Masoud Seyed SakhaHamid Reza ShakerPublished in: ICMRE (2017)
Keyphrases
- adaptive controller
- robot manipulators
- adaptive control
- external disturbances
- tracking error
- sliding mode control
- control scheme
- control law
- nonlinear systems
- dynamic environments
- control method
- single input single output
- force control
- inverse kinematics
- control of robot manipulators
- trajectory planning
- desired trajectory
- variable structure
- feedback control
- chaotic systems
- dynamic model
- control system
- end effector
- closed loop
- adaptive fuzzy
- fuzzy neural network
- pid controller
- control strategy
- control algorithm
- human body
- visual servoing
- artificial neural networks
- input output
- membership functions
- fuzzy logic
- fuzzy controller
- single neuron
- evolutionary algorithm
- real time