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
Copyright Status
Unknown
Socpus ID
0029203266 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/0029203266
STARS Citation
Ham, C.; Qu, Z.; and Kaloust, J., "New Learning Control Of Robot Manipulators In The Presence Of Actuator Dynamics" (1995). Scopus Export 1990s. 1937.
https://stars.library.ucf.edu/scopus1990/1937