RESEARCH ON AFFINE NONLINEAR SYSTEM LEARNING CONTROLLER

LU Lu, LI Tianshi, SHI Weixiang. RESEARCH ON AFFINE NONLINEAR SYSTEM LEARNING CONTROLLER[J]. ROBOT, 1999, 21(1): 64-68.

Citation:

LU Lu, LI Tianshi, SHI Weixiang. RESEARCH ON AFFINE NONLINEAR SYSTEM LEARNING CONTROLLER[J]. ROBOT, 1999, 21(1): 64-68.

Citation:

LU Lu, LI Tianshi, SHI Weixiang. RESEARCH ON AFFINE NONLINEAR SYSTEM LEARNING CONTROLLER[J]. ROBOT, 1999, 21(1): 64-68.

Abstract

This paper presents a learning controller of affine nonlinear control system and gives its convergence proof.This controller is applied to the tracking control of a two link robot manipulator,and good tracking performance is obtained in the simulation.

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