Nonlinear full-model-based controller for unactuated joints in vertical plane.
Pauli MustalahtiJouni MattilaPublished in: CIS/RAM (2017)
Keyphrases
- tracking control
- neural network controller
- variable structure
- adaptive neural
- closed loop
- adaptive controller
- feedback controller
- highly nonlinear
- three dimensional
- nonlinear systems
- real time
- controller design
- control system
- linear quadratic
- degrees of freedom
- model predictive control
- control architecture
- control scheme
- numerical simulations
- fuzzy pid
- stability analysis
- single neuron
- control law
- fuzzy controller
- human body
- neural network
- nonlinear dynamics
- robot manipulators
- lyapunov function
- control theory
- ground plane
- pid controller
- control method
- optimal control
- control strategy