Title

New Learning Control Of Robot Manipulators In The Presence Of Actuator Dynamics

Abstract

This paper illustrates a new learning control for tracking robot manipulators in the presence of electrical dynamics using Lyapunov direct method. It has been shown that under the proposed learning control robotic systems are always guaranteed to be asymptotically stable with respect to the number of trials. The proposed control is also robust in the sense that the exact knowledge of the nonlinear dynamics is not required except for bounding functions on the magnitude.

Publication Date

1-1-1995

Publication Title

Proceedings - IEEE International Conference on Robotics and Automation

Volume

2

Number of Pages

2144-2149

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/ROBOT.1995.525578

Socpus ID

0029203266 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0029203266

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