Control of stabilized platform for two-link planar manipulator arm under parallel base motion disturbance with Passivity-Based Adaptive Control.
Theerapong FongjunManop WongsaisuwanSuthee PhoojaruenchanachaiPublished in: ROBIO (2008)
Keyphrases
- adaptive control
- control method
- parallel manipulator
- trajectory tracking
- desired trajectory
- control law
- sliding mode
- variable structure
- nonlinear systems
- control problems
- feedback control
- control algorithm
- robotic arm
- control strategy
- human arm
- motion planning
- control system
- end effector
- degrees of freedom
- closed loop
- inverse kinematics
- autonomous control
- visual servoing
- adaptive controller
- fuzzy control
- master slave
- dynamic environments
- chaotic systems
- moving objects
- pid controller
- lyapunov function
- pid control
- real time
- image sequences
- control scheme
- fuzzy controller
- control theory
- optimal control
- joint angles
- tracking error
- force control
- dynamic model
- path planning
- flight control
- robot arm
- camera motion
- dynamic programming
- reinforcement learning
- learning algorithm