this paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. the proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. this kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

<p style='text-indent:20px;'>In this paper, an optimal control model ruled by a class of linear discrete-time stochastic descriptor systems is considered under quadratic index performance. Employing dynamic programming method, recurrence equation to simplify the problem presented provided that are both regular and impulse-free. When objective function quadratic, according equation, linear...