Stable, On-Line Learning using CMACs for Neuroadaptive Tracking Control of Flexible-Joint Manipulators.
C. J. B. MacnabGabriele M. T. D'EleuterioPublished in: ICRA (1998)
Keyphrases
- tracking control
- control law
- nonlinear systems
- adaptive control
- closed loop
- control system
- adaptive neural
- control algorithm
- path planning
- control strategy
- control scheme
- fuzzy model
- motion planning
- decision making
- controller design
- optimal control
- dynamical systems
- reinforcement learning
- fuzzy controller
- fuzzy control
- control method
- degrees of freedom
- tracking error
- artificial intelligence