Hostname: page-component-586b7cd67f-vdxz6 Total loading time: 0 Render date: 2024-11-28T03:03:20.561Z Has data issue: false hasContentIssue false
  • English
  • Français

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).
Get access Rights & Permissions [Opens in a new window]

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.

Keywords

Control lawRigid linkSimulinkPosition trackingElectrically-driven robot
Type
Article
Information
Robotica , Volume 24 , Issue 3 , May 2006 , pp. 349 - 354
Copyright
2006 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)