Learning control of robot manipulators in the presence of additive disturbances

Authors : Enver TATLICIOĞLU

Pages : 705-714

View : 14 | Download : 11

Publication Date : 0000-00-00

Article Type : Research Paper

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