Convergence and robustness of a discrete‐time learning control scheme for constrained manipulators

DOI10.1002/ROB.4620110308MaRDI QIDQ4292274zbMATH OpenOpenAlexWikidataFDO

Authors C. C. Cheah, Danwei Wang, Yeng Chai Soh

Publication date 1 June 1994

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620110308

zbMATH Keywords

external disturbancestracking errorpath tracking

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

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Cites work

• A new adaptive learning rule
• Feedback stabilization and tracking of constrained robots
• Learning control theory for robotic motion

Cited in

(6)

• Discrete learning control for robots: strategy, convergence and robustness
• Robustness of time-scale learning of robot motions to uncertainty in acquired knowledge
• Sampled-data iterative learning control for nonlinear systems with arbitrary relative degree
• Robustness and convergence rate of a discrete-time learning control algorithm for a class of nonlinear systems
• Constrained discrete model predictive control of an arm‐manipulator using Laguerre function
• AFD-based ILC designs in frequency domain for linear discrete-time systems

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