Simulation of a hybrid adaptive-learning control law for a rigid link electrically driven robot manipulator
Robotica, cilt.24, sa.3, ss.349-354, 2006 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 24 Sayı: 3
- Basım Tarihi: 2006
- Doi Numarası: 10.1017/s0263574705002250
- Dergi Adı: Robotica
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Sayfa Sayıları: ss.349-354
- Anahtar Kelimeler: Control law, Electrically-driven robot, Position tracking, Rigid link, Simulink
- Ankara Yıldırım Beyazıt Üniversitesi Adresli: Hayır
Özet
In this work, a hybrid adaptive/learning controller is simulated in Simulink using a two-link robot manipulator for a sinusoidal desired position. The two-dimensional nature of control law makes direct simulation difficult. Simulation results demonstrate that the controller achieves semi global asymptotic position tracking. © 2006 Cambridge University Press.