Robust learning control for robotic manipulators with an extension to a class of non-linear systems

  title={Robust learning control for robotic manipulators with an extension to a class of non-linear systems},
  author={Xu Jian-xin and Badrinath Viswanathan and Qu Zhihua},
A robust learning control (RLC) scheme is developed for robotic manipulators by a synthesis of learning control and robust control methods. The non-linear learning control strategy is applied directly to the structured system uncertainties that can be separated and expressed as products of unknown but repeatable (over iterations) state-independent time functions and known state-dependent functions. The non-linear uncertain terms in robotic dynamics such as centrifugal, Coriolis and… CONTINUE READING
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