A nonlinear adaptive robust control design for robotic systems under time-varying parameter perturbation and external disturbance.
Yingjie YinYoshikazu HayakawaKazuya OgataShigeyuki HosoePublished in: IROS (2003)
Keyphrases
- robotic systems
- control architecture
- mobile robot
- robotic manipulator
- control system
- vision system
- autonomous robots
- pi control
- design parameters
- parameter tuning
- unstructured environments
- robotic arm
- nonlinear dynamics
- real time
- neural network
- adaptive control
- design process
- computational intelligence
- adaptive neural
- artificial intelligence