Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/5005
Title: Learning control of robot manipulators in the presence of additive disturbances
Authors: Tatlıcıoğlu, Enver
Tatlıcıoğlu, Enver
Izmir Institute of Technology. Electronics and Communication Engineering
Keywords: Disturbance rejection
Learning control
Lyapunov-based methods
Controllers
Issue Date: 2011
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
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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