Hybrid Vision/Magnetic-Force Finite-Time Convergent Neural Network Tracking Control of Electromagnetically Actuated Soft-Tethered Colonoscope Robot With Current Constraints.
Zhiwei CuiYehui LiWeibing LiJixiu LiPhilip Wai Yan ChiuZheng LiPublished in: IEEE Trans. Syst. Man Cybern. Syst. (2023)
Keyphrases
- tracking control
- neural network
- force control
- control law
- position control
- control scheme
- nonlinear systems
- vision system
- adaptive neural
- closed loop
- mobile robot
- computer vision
- real time
- robot manipulators
- pattern recognition
- multi robot
- fuzzy controller
- autonomous robots
- feed forward
- path planning
- back propagation
- artificial neural networks
- rbf network
- prediction model
- dynamic model
- adaptive control
- adaptive fuzzy
- lyapunov function
- power system
- genetic algorithm
- control system