Learning control of robot manipulators in the presence of additive disturbances

Tatlicioglu E.

TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, cilt.19, ss.705-714, 2011 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 19 Konu: 5
  • Basım Tarihi: 2011
  • Doi Numarası: 10.3906/elk-1007-588
  • Dergi Adı: TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
  • Sayfa Sayıları: ss.705-714

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.