Robust adaptive output feedback tracking control for flexible-joint robot manipulators based on singularly perturbed decoupling.
Huashan LiuYong HuangPublished in: Robotica (2018)
Keyphrases
- robot manipulators
- tracking control
- control scheme
- tracking error
- control law
- nonlinear systems
- dynamic model
- adaptive neural
- fuzzy controller
- closed loop
- input output
- pid controller
- fuzzy control
- fuzzy neural network
- real time
- fuzzy model
- state space
- control strategy
- control system
- adaptive fuzzy
- neural network model
- membership functions
- reinforcement learning