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