Iterative learning control for manipulator trajectory tracking without any control singularity.
Ping JiangPeng-Yung WooRolf UnbehauenPublished in: Robotica (2002)
Keyphrases
- trajectory tracking
- iterative learning control
- iterative learning
- closed loop
- control system
- bi directional
- dynamic model
- control method
- sliding mode
- physical constraints
- visual servoing
- control law
- adaptive control
- sliding mode control
- feedback control
- fuzzy logic
- stability analysis
- control strategy
- vision system
- nonlinear systems
- robot manipulators
- control algorithm
- control scheme
- error reduction
- pid controller
- motion planning