Theory of P-type learning control with implication for the robot manipulator

Saab, Samer S.; Vogt, William G.; Mickle, Marlin H.

Theory of P-type learning control with implication for the robot manipulator

Saab, Samer S.; Vogt, William G.; Mickle, Marlin H.

URI: http://hdl.handle.net/10725/11215

URL: https://ieeexplore.ieee.org/abstract/document/292055/keywords#keywords

DOI: http://dx.doi.org/10.1109/ROBOT.1993.292055

Date: 2019-08-20

Terms of Use: This item is made available under the terms and conditions applicable to " Conference Paper / Proceeding ", as set forth at: http://libraries.lau.edu.lb/research/laur/terms-of-use/articles.php

Abstract:

The robustness and convergence of P-type learning control algorithms for a class of time-varying, nonlinear systems with state disturbances, measurement noise at the output, and reinitialization errors at each iteration is studied. The uniform boundedness of the system states with respect to the existence of errors of initialization, measurement noises and fluctuations of system dynamics is proved. The system output is shown to converge uniformly to the desired output whenever all disturbances tend to zero. Implications of the results for robot manipulator and linear systems are presented.

Citation:

Saab, S. S., Vogt, W. G., & Mickle, M. H. (1993, May). Theory of P-type learning control with implication for the robot manipulator. In [1993] Proceedings IEEE International Conference on Robotics and Automation (pp. 665-671). IEEE.