Augmented Nonlinear PD Controller for a Redundantly Actuated Parallel Manipulator.
Weiwei ShangShuang CongZexiang LiShilong JiangPublished in: Adv. Robotics (2009)
Keyphrases
- parallel manipulator
- dynamic model
- inverse dynamics
- degrees of freedom
- control scheme
- tracking control
- neural network controller
- control law
- hybrid meta heuristic
- variable structure
- control algorithm
- highly nonlinear
- closed loop
- position tracking
- open loop
- continuous stirred tank reactor
- real time
- pid controller
- dynamical systems
- experimental data
- control system
- neural network