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Title: Lyapunov-based output feedback learning control of robot manipulators
Authors: Doğan, Kadriye Merve
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Çetin, Kamil
Keywords: Manipulators
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
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

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