Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/2521
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dc.contributor.authorZergeroğlu, Erkan-
dc.contributor.authorTatlıcıoğlu, Enver-
dc.date.accessioned2016-11-25T09:07:36Z-
dc.date.available2016-11-25T09:07:36Z-
dc.date.issued2010-
dc.identifier.citationZergeroğlu, 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.2010.5716953en_US
dc.identifier.issn0191-2216-
dc.identifier.urihttp://doi.org/10.1109/CDC.2010.5716953-
dc.identifier.urihttp://hdl.handle.net/11147/2521-
dc.description49th IEEE Conference on Decision and Control, CDC 2010; Atlanta, GA; United States; 15 December 2010 through 17 December 2010en_US
dc.description.abstractIn 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.en_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartofIEEE 49th Conference on Decision and Control, CDC 2010en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectControllersen_US
dc.subjectAsymptotic stabilityen_US
dc.subjectRobot applicationsen_US
dc.subjectIndustrial robotsen_US
dc.subjectAdaptive output feedbacken_US
dc.titleObserver based adaptive output feedback tracking control of robot manipulatorsen_US
dc.typeConference Objecten_US
dc.authoridTR21535en_US
dc.authoridTR123720en_US
dc.contributor.departmentIzmir Institute of Technology. Electronics and Communication Engineeringen_US
dc.identifier.startpage3638en_US
dc.identifier.endpage3643en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1109/CDC.2010.5716953-
dc.relation.doi10.1109/CDC.2010.5716953en_US
dc.coverage.doi10.1109/CDC.2010.5716953en_US
item.openairetypeConference Object-
item.fulltextWith Fulltext-
item.grantfulltextopen-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
item.languageiso639-1en-
crisitem.author.deptDepartment of Electrical and Electonics Engineering-
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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