OTHER
On the role of high gain feedback in P-type learning control of robots
P. Lucibello
- Year
- 2002
- Citations
- 9
Abstract
An alternative proof of the convergence of known P-type learning control schemes for unconstrained and constrained robot arms is presented. The analysis carried out is based on a singular perturbation approach and points out the role played by high gain velocity and force feedbacks and by actuator/output co-location.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
RobotComputer scienceControl (management)Feedback controlType (biology)Human–computer interactionControl theory (sociology)Artificial intelligenceControl engineeringEngineering
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