Title

A New Nonlinear Learning Control For Robot Manipulators

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 andLipschitz 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. © 1996 Taylor & Francis Group, LLC.

Publication Date

1-1-1996

Publication Title

Advanced Robotics

Volume

11

Issue

1

Number of Pages

1-15

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1163/156855397X00010

Socpus ID

0030648322 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0030648322

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