Tuning convergence rate of a robust learning controller for robot manipulators

Tae Yong Kuc; Jin S. Lee; Byung Hyun Park

Tuning convergence rate of a robust learning controller for robot manipulators

Tae Yong Kuc
, Jin S. Lee
, Byung Hyun Park

Department of Electronic and Electrical Engineering

Sungkyunkwan University

Research output: Contribution to journal › Conference article › peer-review

1 Scopus citations

Abstract

This paper presents a robust learning control algorithm which learns the entire span of robot trajectory within a finite time interval. The learning controller treats the uncertain parameters as well as unknown external disturbances with the aid of linear parameterization property of robot system and robust feedback control input. It is shown that the robot motion converges exponentially to the desired one as the iteration continues.

Original language	English
Pages (from-to)	1714-1719
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	2
State	Published - 1995
Event	Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4) - New Orleans, LA, USA Duration: 13 Dec 1995 → 15 Dec 1995

Cite this

@article{ed98216b2fc743408c0d04306ce06a4e,

title = "Tuning convergence rate of a robust learning controller for robot manipulators",

abstract = "This paper presents a robust learning control algorithm which learns the entire span of robot trajectory within a finite time interval. The learning controller treats the uncertain parameters as well as unknown external disturbances with the aid of linear parameterization property of robot system and robust feedback control input. It is shown that the robot motion converges exponentially to the desired one as the iteration continues.",

author = "Kuc, \{Tae Yong\} and Lee, \{Jin S.\} and Park, \{Byung Hyun\}",

year = "1995",

language = "English",

volume = "2",

pages = "1714--1719",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0191-2216",

note = "Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4) ; Conference date: 13-12-1995 Through 15-12-1995",

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TY - JOUR

T1 - Tuning convergence rate of a robust learning controller for robot manipulators

AU - Kuc, Tae Yong

AU - Lee, Jin S.

AU - Park, Byung Hyun

PY - 1995

Y1 - 1995

N2 - This paper presents a robust learning control algorithm which learns the entire span of robot trajectory within a finite time interval. The learning controller treats the uncertain parameters as well as unknown external disturbances with the aid of linear parameterization property of robot system and robust feedback control input. It is shown that the robot motion converges exponentially to the desired one as the iteration continues.

AB - This paper presents a robust learning control algorithm which learns the entire span of robot trajectory within a finite time interval. The learning controller treats the uncertain parameters as well as unknown external disturbances with the aid of linear parameterization property of robot system and robust feedback control input. It is shown that the robot motion converges exponentially to the desired one as the iteration continues.

UR - https://www.scopus.com/pages/publications/0029485770

M3 - Conference article

AN - SCOPUS:0029485770

SN - 0191-2216

VL - 2

SP - 1714

EP - 1719

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4)

Y2 - 13 December 1995 through 15 December 1995

ER -

Tuning convergence rate of a robust learning controller for robot manipulators

Abstract

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