Takagi-Sugeno fuzzy scheme for real-time trajectory tracking of an underactuated robot.
Ofelia BegovichEdgar N. SánchezMarcos MaldonadoPublished in: IEEE Trans. Control. Syst. Technol. (2002)
Keyphrases
- trajectory tracking
- real time
- bi directional
- control system
- takagi sugeno fuzzy
- closed loop
- control law
- vision system
- dynamic model
- visual servoing
- physical constraints
- iterative learning
- motion planning
- sliding mode
- control method
- mobile robot
- steady state
- pid controller
- exponential stability
- control scheme
- humanoid robot
- chaotic systems
- robot manipulators
- fuzzy controller
- associative memory
- control strategy