Turkish Journal of Electrical Engineering and Computer Sciences
DOI
10.3906/elk-1007-588
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
First Page
705
Last Page
714
Recommended Citation
TATLICIOĞLU, ENVER
(2011)
"Learning control of robot manipulators in the presence of additive disturbances,"
Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 19:
No.
5, Article 1.
https://doi.org/10.3906/elk-1007-588
Available at:
https://journals.tubitak.gov.tr/elektrik/vol19/iss5/1
Included in
Computer Engineering Commons, Computer Sciences Commons, Electrical and Computer Engineering Commons
