Simulation of a hybrid adaptive-learning control law for a rigid link electrically driven robot manipulator

Uǧuz H., CANBOLAT H.

Robotica, vol.24, no.3, pp.349-354, 2006 (SCI-Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 24 Issue: 3
  • Publication Date: 2006
  • Doi Number: 10.1017/s0263574705002250
  • Journal Name: Robotica
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.349-354
  • Keywords: Control law, Electrically-driven robot, Position tracking, Rigid link, Simulink
  • Ankara Yıldırım Beyazıt University Affiliated: Yes

Abstract

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.