Globally exponential controller/observer for tracking in robots with DC motor dynamics and only link position measurement.
Srinivasulu MalagariBrian J. DriessenPublished in: Int. J. Model. Identif. Control. (2013)
Keyphrases
- dc motor
- mobile robot
- closed loop
- tracking error
- speed control
- control system
- external disturbances
- position control
- control law
- desired trajectory
- operating conditions
- electro mechanical
- real time
- control scheme
- dynamic model
- permanent magnet
- control strategy
- trajectory tracking
- autonomous robots
- multi robot
- joint angles
- path planning
- nonlinear systems
- fuzzy logic controller
- robotic systems
- pi controller
- fine tuned
- robot manipulators
- pid controller
- fuzzy logic
- quadruped robot
- neural network