A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs.
Marco MendozaArturo Zavala-RíoVíctor SantibáñezFernando Reyes-CortésPublished in: Int. J. Control (2015)
Keyphrases
- control scheme
- robot manipulators
- closed loop
- control system
- proportional integral derivative
- dynamic model
- pid controller
- control strategy
- controller design
- inverse kinematics
- force control
- control law
- sliding mode control
- fuzzy controller
- sliding mode
- induction motor
- end effector
- neural network controller
- control algorithm
- adaptive control
- control method
- variable structure
- pid control
- limit cycle
- feedback control
- neural network