A nonlinear stability analysis for the robust position control problem of robot manipulators via disturbance observer.
Emre SariyildizHaoyong YuKoyo YuKouhei OhnishiPublished in: ICM (2015)
Keyphrases
- stability analysis
- robot manipulators
- force control
- sliding mode
- position control
- control scheme
- end effector
- nonlinear systems
- control law
- pid controller
- inverse kinematics
- sliding mode control
- variable structure
- closed loop
- control strategy
- artificial neural networks
- knowledge base
- fuzzy controller
- neural network
- dynamic model
- regression model
- control system