Implementing model-based variable-structure controllers for robot manipulators with actuator modelling.
S. K. TsoP. L. LawYangsheng XuHeung-Yeung ShumPublished in: IROS (1993)
Keyphrases
- variable structure
- robot manipulators
- sliding mode
- control system
- control scheme
- control law
- closed loop
- adaptive control
- pid controller
- control strategy
- control method
- sliding mode control
- dynamic model
- fuzzy control
- control theory
- neural network
- nonlinear systems
- artificial intelligence
- fuzzy neural network
- fuzzy controller
- data fusion
- multi objective
- real time