A learning controller for robotic manipulators

A simple adaptive algorithm for learning control is proposed which generates suitable input for a class of nonlinear systems, such as robotic manipulators, to track a desired trajectory after repeated trials. As the number of trials increases, the error between the desired trajectory and that of the system is guaranteed to approach zero. The design is based on the combination of direct adaptive control and the learning process. This method does not require any knowledge of the dynamic parameters of the system and can easily be implemented using inexpensive microcomputers