Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control.
Julian NubertJohannes KöhlerVincent BerenzFrank AllgöwerSebastian TrimpePublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- robot manipulators
- neural network
- force control
- dynamic model
- tracking error
- control scheme
- control of robot manipulators
- inverse kinematics
- end effector
- fuzzy neural network
- trajectory planning
- sliding mode control
- control strategy
- closed loop
- control system
- sliding mode
- optimal control
- real time
- artificial neural networks
- recurrent neural networks
- pid controller
- back propagation
- tracking framework
- fuzzy logic
- adaptive fuzzy
- neural network model
- predictive control
- nonlinear systems
- particle filter
- multilayer perceptron
- input output