Iterative Contraction Stability Control Strategy for Planar Prismatic-Rotational Underactuated Robot.
Zixin HuangShaoqi WeiZhen ChenLejun WangPublished in: IEEE Access (2023)
Keyphrases
- control strategy
- force control
- control architecture
- robot motion
- motion planning
- degrees of freedom
- control system
- biped robot
- control scheme
- control algorithm
- control loop
- control law
- control method
- control strategies
- operating conditions
- mobile robot
- lyapunov function
- optimal control
- mathematical model
- robot manipulators
- end effector
- mechanical systems
- fuzzy controller
- fuzzy logic control
- visual servoing
- stability analysis
- autonomous robots
- robotic systems
- vision system
- matlab simulink
- humanoid robot
- sliding mode control
- sliding mode
- controller design
- pi controller
- predictive control
- multi robot
- real time
- path planning
- speed control
- nonlinear systems
- adaptive fuzzy
- variable structure
- trajectory tracking
- fuzzy control
- formation control
- transient response