On the role of high gain feedback in P-type learning control of robots

摘要

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">&gt;</ETX>