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

Published online by Cambridge University Press:  15 February 2006

Hüray Uǧuz and
Hüseyin Canbolat
Hüray Uǧuz
Affiliation:
Mersin University, Engineering Faculty, Electrical and Electronics Eng. Department, 33343 Çiftlikköy, Mersin (Turkey).
Hüseyin Canbolat
Affiliation:
Turkish Ministry of Defense, Adana Section, Adana (Turkey).
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Abstract

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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.

Keywords

Control lawRigid linkSimulinkPosition trackingElectrically-driven robot

Information

Type
Article
Information
Robotica , Volume 24 , Issue 3 , May 2006, pp. 349 - 354
Copyright
2006 Cambridge University Press