Passivity based trajectory tracking control with predefined local linear error dynamics.
Paul KotyczkaAlexander VolfBoris LohmannPublished in: ACC (2010)
Keyphrases
- sliding mode
- trajectory tracking control
- variable structure
- stability analysis
- control strategy
- control law
- control scheme
- robot manipulators
- sliding mode control
- dynamic model
- sliding mode controller
- tracking error
- trajectory tracking
- parameter uncertainties
- control system
- control theory
- adaptive control
- closed loop
- dynamic programming
- control algorithm
- optimal control
- initial conditions
- fuzzy controller