- Turkish Journal of Electrical Engineering and Computer Science
- Vol: 19 Issue: 5
- Learning control of robot manipulators in the presence of additive disturbances
Learning control of robot manipulators in the presence of additive disturbances
Authors : Enver Tatlicioğlu
Pages : 705-714
View : 5 | Download : 1
Publication Date : 9999-12-31
Article Type : Makaleler
Abstract :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.Keywords : Learning control, disturbance rejection, Lyapunov--based methods