Stability analysis of robust adaptive hybrid position/force controller for robot manipulators using neural network with uncertainties.
H. P. SinghNagarajan SukavanamPublished in: Neural Comput. Appl. (2013)
Keyphrases
- robot manipulators
- position control
- stability analysis
- force control
- control scheme
- neural controller
- neural network
- sliding mode
- nonlinear systems
- control law
- end effector
- sliding mode control
- closed loop
- pid controller
- adaptive neural
- inverse kinematics
- lyapunov function
- fuzzy controller
- fuzzy neural network
- adaptive fuzzy
- dynamic model
- control system
- control strategy
- artificial neural networks
- bp neural network
- fuzzy control
- adaptive control
- variable structure
- back propagation
- pattern recognition
- control theory
- decision making
- control method
- artificial intelligence
- mathematical model
- path planning
- neural network model
- prediction model