Global asymptotic adaptive robot tracking with actuator dynamics and no velocity Measurement.
Brian J. DriessenPublished in: Control. Intell. Syst. (2016)
Keyphrases
- tracking error
- desired trajectory
- closed loop
- control method
- robot manipulators
- control law
- control scheme
- nonlinear systems
- trajectory tracking
- adaptive control
- reference trajectory
- iterative learning control
- position and orientation
- adaptive fuzzy
- control system
- joint angles
- fuzzy controller
- tracking accuracy
- position control
- lyapunov function
- end effector
- force control
- robot arm
- visual servoing
- physical constraints
- mobile robot
- control algorithm
- dynamic model
- real time
- kinematic model
- robot navigation
- pid controller
- vision system
- initial conditions
- human body
- human robot interaction
- dynamical systems
- motion planning
- control strategy
- particle filter
- sliding mode
- constant velocity
- path planning
- degrees of freedom
- mobile robot localization
- computer vision