Motion control of two-link flexible-joint robot with actuator nonlinearities, using backstepping and neural networks.
Withit ChatlatanagulchaiPeter H. MecklPublished in: IROS (2005)
Keyphrases
- motion control
- control system
- neural network
- mobile robot
- control law
- closed loop
- control strategy
- fuzzy logic
- kinematic model
- autonomous robots
- nonlinear systems
- visual servoing
- robot control
- physical constraints
- control algorithm
- autonomous navigation
- position control
- fuzzy systems
- artificial neural networks
- control scheme
- neural network model
- control method
- robotic soccer
- real time
- real robot
- back propagation
- genetic algorithm
- trajectory tracking