Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/2521
Title: Observer based adaptive 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
Robot applications
Industrial robots
Adaptive output feedback
Issue Date: 2010
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Zergeroğlu, E., and Tatlıcıoğlu, E. (2010, December 15-17). Observer based adaptive output feedback tracking control of robot manipulators. Paper presented at the 49th IEEE Conference on Decision and Control, CDC 2010. doi:10.1109/CDC.2010.5716953
Abstract: In this paper, we propose an observer based adaptive output feedback (OFB) tracking controller for rigid-link robot manipulators. Specifically, we used a model independent observer in conjuction with a desired compensation adaptation law (DCAL) to remove the link velocity dependency of the controller and achieved asymptotic stability of the observer-controller couple despite the uncertainties associated with the system dynamics. Lyapunov based arguments are utilized to illustrate the stability of the proposed controller. Simulation results are included to demonstrate the performance of observer-controller couple.
Description: 49th IEEE Conference on Decision and Control, CDC 2010; Atlanta, GA; United States; 15 December 2010 through 17 December 2010
URI: http://doi.org/10.1109/CDC.2010.5716953
http://hdl.handle.net/11147/2521
ISSN: 0191-2216
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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