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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.

First Page

705

Last Page

714

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