Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/5483
Title: Lyapunov-based output feedback learning control of robot manipulators
Authors: Doğan, Kadriye Merve
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Çetin, Kamil
Keywords: Manipulators
Controllers
Output feedback controllers
Industrial robots
Uncertainty analysis
Issue Date: Jul-2015
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Doğan, K. M., Tatlıcıoğlu, E., Zergeroğlu, E., and Çetin, K. (2015, July). Lyapunov-based output feedback learning control of robot manipulators. Paper presented at the 2015 American Control Conference, ACC 2015. doi:10.1109/ACC.2015.7172173
Abstract: This paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for periodic trajectories with known period have been proposed. The proposed learning controller guarantees semi-global asymptotic tracking despite the existence of parametric uncertainties associated with the robot dynamics and lack of velocity measurements. A learning-based feedforward term in conjunction with a novel observer formulation is designed to obtain the aforementioned result. The stability of the controller-observer couple is guaranteed via Lyapunov based arguments. Numerical studies performed on a two link robot manipulator are also presented to demonstrate the viability of the proposed method. © 2015 American Automatic Control Council.
Description: 2015 American Control Conference, ACC 2015; Hilton Palmer HouseChicago; United States; 1 July 2015 through 3 July 2015
URI: http://doi.org/10.1109/ACC.2015.7172173
http://hdl.handle.net/11147/5483
ISBN: 9781479986842
ISSN: 0743-1619
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

Files in This Item:
File Description SizeFormat 
5483.pdfConference Paper359.05 kBAdobe PDFThumbnail
View/Open
Show full item record

CORE Recommender

SCOPUSTM   
Citations

2
checked on Aug 10, 2022

Page view(s)

96
checked on Aug 15, 2022

Download(s)

106
checked on Aug 15, 2022

Google ScholarTM

Check

Altmetric


Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.