Skip to main content

A new nonlinear learning control for robot manipulators

Buy Article:

$63.00 plus tax (Refund Policy)

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 and Lipschitz 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.
No Reference information available - sign in for access.
No Citation information available - sign in for access.
No Supplementary Data.
No Data/Media
No Metrics

Document Type: Research Article

Affiliations: 1: Satellite Business Division, Hyundai Electronics Industries, Ichon, Kyoungki, Korea 2: Department of Electrical and Computer Engineering, University of Central Florida, Orlando, FL 32816, USA

Publication date: 1996-01-01

  • Access Key
  • Free content
  • Partial Free content
  • New content
  • Open access content
  • Partial Open access content
  • Subscribed content
  • Partial Subscribed content
  • Free trial content
Cookie Policy
X
Cookie Policy
Ingenta Connect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more