Title :
On the role of high gain feedback in P-type learning control of robots
Author :
Lucibello, Pasquale
Author_Institution :
Rome Univ., Italy
Abstract :
An alternative proof of the convergence of known P-type learning control schemes for unconstrained and constrained robot arms is presented. The analysis carried out is based on a singular perturbation approach and points out the role played by high gain velocity and force feedbacks and by actuator/output co-location
Keywords :
convergence; feedback; learning (artificial intelligence); robot programming; robots; P-type learning control; actuator/output co-location; constrained robot arms; convergence; force feedbacks; high gain feedback; high gain velocity; robots; singular perturbation approach; unconstrained robot arms; Actuators; Control systems; Convergence; Feedback; Force control; H infinity control; Manipulators; Orbital robotics; Robot control; Trajectory;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325576
