A new learning control of robot manipulators in the presence of actuator dynamics

This paper illustrates a new learning control for tracking robot manipulators in the presence of electrical dynamics using Lyapunov direct method. It has been shown that under the proposed learning control robotic systems are always guaranteed to be asymptotically stable with respect to the number of trials. The proposed control is also robust in the sense that the exact knowledge of the nonlinear dynamics is not required except for bounding functions on the magnitude