Learning control of robot manipulators in the presence of additive disturbances

Tatlicioglu E.

TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, vol.19, no.5, pp.705-714, 2011 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 19 Issue: 5
  • Publication Date: 2011
  • Doi Number: 10.3906/elk-1007-588
  • Title of Journal : TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
  • Page Numbers: pp.705-714

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.