Adaptive neural network command filtered backstepping impedance control for uncertain robotic manipulators with disturbance observer.
Gaorong LinBingqiang ShanYumei MaXincheng TianJinpeng YuPublished in: Trans. Inst. Meas. Control (2022)
Keyphrases
- robotic manipulator
- position control
- impedance control
- control scheme
- closed loop
- control strategy
- control law
- force control
- visual servoing
- control system
- end effector
- robotic systems
- optimal control
- nonlinear systems
- degrees of freedom
- robot manipulators
- control strategies
- manipulation tasks
- pid controller
- feedback loop
- model free
- control architecture
- control algorithm
- dynamic model
- adaptive control
- robot arm
- vision system
- multiple models
- operating conditions
- control method
- mathematical model
- fuzzy controller