Title
A New Nonlinear Learning Control For Robot Manipulators
Abbreviated Journal Title
Adv. Robot.
Keywords
Robotics
Abstract
A new iterative learning control scheme is applied to the trajectory tracking of robot manipulators. The proposed learning control is based on a hybrid, continuous and discrete, Lyapunov argument so that global asymptotic stability can be achieved with respect to the number of trials. This scheme also provides the designer flexibility to design and to implement a learning control for robotic systems by choosing various combinations of robust and learning control parts. The proposed control does not require acceleration measurement, resetting of initial tracking errors and Lipschitz condition. It is also robust in the sense that the exact knowledge of either the nonlinear dynamics or uncertainties of the system is not required except for bounding functions on the magnitude.
Journal Title
Advanced Robotics
Volume
11
Issue/Number
1
Publication Date
1-1-1997
Document Type
Article
Language
English
First Page
1
Last Page
15
WOS Identifier
ISSN
0169-1864
Recommended Citation
"A New Nonlinear Learning Control For Robot Manipulators" (1997). Faculty Bibliography 1990s. 1933.
https://stars.library.ucf.edu/facultybib1990/1933
Comments
Authors: contact us about adding a copy of your work at STARS@ucf.edu