Learning control of robot manipulators in the presence of additive disturbances
Makaleler > Tam Makale · 2011
Yazarlar: Enver TATLICIOĞLU
TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, SCI Expanded İndekslerine Giren Dergi, Uluslararası, 2011, cilt 19, ss 705-714
DOI: 10.3906/elk-1007-588
Özet
In this paper, a learning controller for robot, manipulators is developed. The controller is proven to yield in a semi-global asymptotic result, in the presence of additive input and output, disturbances. lyapunov-based techniques are used to guarantee that the tracking error is asymptotically driven to zero. Numerical simulation results are presented to demonstrate the viability of the proposed learning controller.