Re-examining the Nicosia-Tomei robot observer-controller from a backstepping perspective.
Ser Yong LimDarren M. DawsonK. AndersonPublished in: IEEE Trans. Control. Syst. Technol. (1996)
Keyphrases
- control law
- control strategy
- closed loop
- visual servoing
- control architecture
- mobile robot
- motion control
- autonomous robots
- force control
- biped walking
- control scheme
- nonlinear systems
- trajectory tracking
- control system
- controller design
- robotic manipulator
- motion planning
- robot manipulators
- control algorithm
- central pattern generator
- lyapunov stability theory
- control loop
- robotic systems
- end effector
- control method
- robot arm
- humanoid robot
- adaptive control
- biped robot
- optimal control
- control signals
- pid controller
- real time
- neural network
- variable structure
- robot control
- position control
- reference trajectory
- robot navigation
- position and orientation
- tracking error
- multi robot
- path planning
- legged robots
- service robots
- wheeled mobile robot
- fuzzy controller
- vision system
- iterative learning control
- liquid state machine
- reinforcement learning
- dynamical systems
- stability margin
- human robot interaction
- lyapunov function
- contact force