Learning control of robot manipulators in the presence of additive disturbances

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.

Anahtar Kelimeler:

Learning control, disturbance rejection, Lyapunov--based methods

Learning control of robot manipulators in the presence of additive disturbances

Keywords:

Learning control, disturbance rejection, Lyapunov--based methods,

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