TY  - JOUR
TI  - Learning control of robot manipulators in the presence of additive disturbances
AB  - 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.
AU  - Tatlicioglu, Enver
PY  - 2011
JO  - Turkish Journal of Electrical Engineering and Computer Sciences
VL  - 19
IS  - 5
SN  - 1300-0632
SP  - 705
EP  - 714
DB  - TRDizin
UR  - http://search/yayin/detay/117465
ER  -