Learning control of robot manipulators in the presence of additive disturbances
Articles > Article · 2011
Authors: Enver TATLICIOĞLU
TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, Journal Indexed in SCI Expanded, International, 2011, vol 19, pp 705-714
DOI: 10.3906/elk-1007-588
Summary
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.