Trajectory control of multi-link elastic robot manipulators via a nonlinear feedback controller and a robust servo controller.
Yoshifumi MoritaHiroyuki UkaiTetsuo IwazumiPublished in: Int. J. Syst. Sci. (1996)
Keyphrases
- feedback controller
- control scheme
- robot manipulators
- control system
- pid controller
- closed loop
- control law
- control strategy
- controller design
- adaptive controller
- neural network controller
- dynamic model
- variable structure
- feedback control
- long time delay
- sliding mode
- fuzzy controller
- sliding mode control
- adaptive control
- control theory
- open loop
- fuzzy control
- control method
- control strategies
- control algorithm
- pid control
- optimal control
- pi controller
- nonlinear systems
- guaranteed cost
- tracking error
- robust stability
- experimental data
- networked control systems
- lyapunov function
- fuzzy logic