Novel Hybrid Adaptive Controller for Manipulation in Complex Perturbation Environments
In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulat...
| Main Authors: | , , , , , |
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| Format: | Online |
| Language: | English |
| Published: |
Public Library of Science
2015
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| Online Access: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4452518/ |