Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/2514
Title: Observer based output feedback tracking control of robot manipulators
Authors: Zergeroğlu, Erkan
Tatlıcıoğlu, Enver
Tatlıcıoğlu, Enver
Izmir Institute of Technology. Electronics and Communication Engineering
Keywords: Controllers
Asymptotic stability
Flexible manipulators
Modular robots
Observer structure
Issue Date: 2010
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Zergeroğlu, E., and Tatlıcıoğlu, E. (2010, September 8-10). Observer based output feedback tracking control of robot manipulators. Paper presented at the IEEE International Conference on Control Applications, CCA 2010. doi:10.1109/CCA.2010.5611207
Abstract: In this paper, we developed a new observer based output feedback (OFB) tracking controller for rigid-link robot manipulators. Specifically, a model independent variable structure like observer structure in conjunction with the use of desired system dynamics in the controller design have been utilized to remove the link velocity dependency of the controller and the asymptotic stability of the observer-controller couple is then guaranteed via Lyapunov based arguments. Simulation results are included to demonstrate the observer/controller performance.
Description: IEEE International Conference on Control Applications, CCA 2010; Yokohama; Japan; 8 September 2010 through 10 September 2010
URI: http://doi.org/10.1109/CCA.2010.5611207
http://hdl.handle.net/11147/2514
ISBN: 9781424453627
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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