Experimental comparison of nonlinear controllers for flexible joint manipulators.
Bernard BrogliatoAlessandro PastoreDaniel ReyJean BarnierPublished in: ICRA (1996)
Keyphrases
- experimental comparison
- control law
- tracking control
- adaptive control
- control system
- lightweight
- reinforcement learning
- feature selection
- variable structure
- master slave
- controller design
- path planning
- nonlinear systems
- kernel pca
- degrees of freedom
- closed loop
- piecewise linear
- motion planning
- stability analysis
- control method
- learning algorithm
- neural network controller
- fuzzy pid