Disturbance Observer Based Finite Time Trajectory Tracking Control for a 3 DOF Hydraulic Manipulator Including Actuator Dynamics.
To Xuan DinhDuc Thien TranHoai Vu Anh TruongKyoung Kwan AhnPublished in: IEEE Access (2018)
Keyphrases
- trajectory tracking control
- parameter uncertainties
- desired trajectory
- control method
- mobile robot
- control scheme
- robotic manipulator
- path planning
- control system
- sliding mode
- end effector
- robot manipulators
- degrees of freedom
- closed loop
- trajectory tracking
- external disturbances
- control law
- motion planning
- visual servoing
- control strategy
- adaptive control
- control algorithm
- inverse kinematics
- dynamic model
- pid controller
- dynamic environments
- sliding mode control
- robotic systems
- controller design
- neural model
- position and orientation
- neural controller
- autonomous robots
- fuzzy controller
- force control
- variable structure
- neural network controller
- stability analysis
- pose estimation
- joint angles
- real time
- fuzzy logic
- neural network