Discrete-time sliding mode neuro-adaptive controller for SCARA robot arm.
Francisco G. RossomandoCarlos Miguel SoriaPublished in: Neural Comput. Appl. (2017)
Keyphrases
- robot arm
- control law
- closed loop
- nonlinear systems
- adaptive control
- motion planning
- control algorithm
- control scheme
- control system
- control strategy
- tracking error
- stability analysis
- optimal control
- artificial neural networks
- neuro fuzzy
- autonomous robots
- dynamical systems
- robot manipulators
- lyapunov function
- neural network
- control method
- control strategies
- linear model
- pid controller
- control parameters
- fuzzy controller
- fuzzy control
- least squares
- feedback control
- mobile robot