A Reliable Gravity Compensation Control Strategy for dVRK Robotic Arms With Nonlinear Disturbance Forces.
Hongbin LinChiu-Wai Vincent HuiYan WangAnton DeguetPeter KazanzidesK. W. Samuel AuPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- control strategy
- variable structure
- control loop
- mathematical model
- control algorithm
- control system
- control scheme
- optimal control
- control strategies
- control method
- operating conditions
- control law
- transient response
- robot motion
- speed control
- fuzzy logic control
- neural network controller
- sliding mode control
- real time
- fuzzy controller
- predictive control
- sliding mode
- pi controller
- matlab simulink
- lyapunov function
- controller design
- lotka volterra
- contact force
- mobile robot
- force control
- dynamical systems
- reinforcement learning