Time-Varying Lyapunov Functions for Tracking Control of Mechanical Systems With and Without Frictions.
Weizheng RenBin ZhangHaiyuan LiLutao YanPublished in: IEEE Access (2020)
Keyphrases
- tracking control
- mechanical systems
- nonlinear systems
- control law
- motion planning
- adaptive control
- closed loop
- nonlinear functions
- adaptive neural
- control system
- tracking error
- lyapunov function
- controller design
- control algorithm
- fuzzy model
- control scheme
- learning rate
- fuzzy systems
- degrees of freedom
- mobile robot
- fuzzy controller
- fuzzy control
- sufficient conditions
- basis functions
- dynamical systems
- control strategy
- multi modal
- path planning
- optimal control
- dynamic environments
- takagi sugeno
- gait analysis
- control parameters
- humanoid robot
- dynamic programming
- neural network