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dc.contributor.authorÇobanoğlu, Necati
dc.contributor.authorTatlıcıoğlu, Enver
dc.contributor.authorZergeroğlu, Erkan
dc.date.accessioned2017-11-09T12:02:32Z
dc.date.available2017-11-09T12:02:32Z
dc.date.issued2017
dc.identifier.citationÇobanoğlu, N., Tatlıcıoğlu, E., and Zergeroğlu, E. (2017, 24-26 May). Neural network based repetitive learning control of robot manipulators. Paper presented at the 2017 American Control Conference. doi:10.23919/ACC.2017.7963781en_US
dc.identifier.isbn9781509059928
dc.identifier.issn0743-1619
dc.identifier.urihttp://doi.org/10.23919/ACC.2017.7963781
dc.identifier.urihttp://hdl.handle.net/11147/6441
dc.description2017 American Control Conference, ACC 2017; Sheraton Seattle HotelSeattle; United States; 24 May 2017 through 26 May 2017en_US
dc.description.abstractControl of robot manipulators performing periodic tasks is considered in this work. The control problem is complicated by presence of uncertainties in the robot manipulator's dynamic model. To address this restriction, a model free repetitive learning controller design is aimed. To reduce the heavy control effort, a neural network based compensation term is fused with the repetitive learning controller. The convergence of the tracking error to the origin is ensured via Lyapunov based techniques. Numerical simulations and experiments are performed to demonstrate the viability of the proposed controller.en_US
dc.description.sponsorshipTUBITAK (115E726)en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.isversionof10.23919/ACC.2017.7963781en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectControllersen_US
dc.subjectFlexible manipulatorsen_US
dc.subjectIndustrial robotsen_US
dc.subjectManipulatorsen_US
dc.subjectRobotsen_US
dc.titleNeural network based repetitive learning control of robot manipulatorsen_US
dc.typeconferenceObjecten_US
dc.contributor.authorIDTR123720en_US
dc.contributor.iztechauthorÇobanoğlu, Necati
dc.contributor.iztechauthorTatlıcıoğlu, Enver
dc.relation.journal2017 American Control Conferenceen_US
dc.contributor.departmentİYTE, Mühendislik Fakültesi, Elektrik-Elektronik Mühendisliği Bölümüen_US
dc.identifier.startpage5318en_US
dc.identifier.endpage5323en_US
dc.identifier.scopusSCOPUS:2-s2.0-85027054866
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US


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