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https://hdl.handle.net/11147/5005| Title: | Learning Control of Robot Manipulators in the Presence of Additive Disturbances | Authors: | Tatlıcıoğlu, Enver | Keywords: | Disturbance rejection Learning control Lyapunov-based methods Controllers |
Publisher: | Türkiye Klinikleri Journal of Medical Sciences | Source: | Tatlıcıoǧlu, E. (2011). Learning control of robot manipulators in the presence of additive disturbances. Turkish Journal of Electrical Engineering and Computer Sciences, 19(5), 705-714. doi:10.3906/elk-1007-588 | Abstract: | 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. Lyapunovbased 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. | URI: | http://doi.org/10.3906/elk-1007-588 http://hdl.handle.net/11147/5005 https://search.trdizin.gov.tr/yayin/detay/117465 |
ISSN: | 1300-0632 1300-0632 1303-6203 |
| Appears in Collections: | Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection TR Dizin İndeksli Yayınlar / TR Dizin Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
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