A new learning control of robot manipulators in the presence of actuator dynamics

Author

Ham, C. ; Qu, Z. ; Kaloust, J. ; Johnson, R.

Author_Institution

Dept. of Electr. Eng., Univ. of Central Florida, Orlando, FL, USA

Volume

2

fYear

1995

fDate

21-27 May 1995

Firstpage

2144

Abstract

This paper illustrates a new learning control for tracking robot manipulators in the presence of electrical dynamics using Lyapunov direct method. It has been shown that under the proposed learning control robotic systems are always guaranteed to be asymptotically stable with respect to the number of trials. The proposed control is also robust in the sense that the exact knowledge of the nonlinear dynamics is not required except for bounding functions on the magnitude

Keywords

Lyapunov methods; actuators; asymptotic stability; control system synthesis; dynamics; intelligent control; learning (artificial intelligence); robots; tracking; Lyapunov direct method; actuator dynamics; asymptotic stability; convergence; learning control; manipulators; recursive design; robot; tracking; Actuators; Centralized control; Control systems; Error correction; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Robot control; Robot sensing systems; Voltage;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525578

Filename

525578