Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/5483
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dc.contributor.authorDoğan, Kadriye Merve-
dc.contributor.authorTatlıcıoğlu, Enver-
dc.contributor.authorZergeroğlu, Erkan-
dc.contributor.authorÇetin, Kamil-
dc.date.accessioned2017-05-11T13:34:34Z-
dc.date.available2017-05-11T13:34:34Z-
dc.date.issued2015-07-
dc.identifier.citationDoğan, 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.2015.7172173en_US
dc.identifier.isbn9781479986842-
dc.identifier.issn0743-1619-
dc.identifier.urihttp://doi.org/10.1109/ACC.2015.7172173-
dc.identifier.urihttp://hdl.handle.net/11147/5483-
dc.description2015 American Control Conference, ACC 2015; Hilton Palmer HouseChicago; United States; 1 July 2015 through 3 July 2015en_US
dc.description.abstractThis 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.en_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartof2015 American Control Conference, ACC 2015en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectManipulatorsen_US
dc.subjectControllersen_US
dc.subjectOutput feedback controllersen_US
dc.subjectIndustrial robotsen_US
dc.subjectUncertainty analysisen_US
dc.titleLyapunov-based output feedback learning control of robot manipulatorsen_US
dc.typeConference Objecten_US
dc.authoridTR123720en_US
dc.institutionauthorDoğan, Kadriye Merve-
dc.institutionauthorTatlıcıoğlu, Enver-
dc.departmentIzmir Institute of Technology. Electronics and Communication Engineeringen_US
dc.identifier.volume2015en_US
dc.identifier.startpage5337en_US
dc.identifier.endpage5342en_US
dc.identifier.wosWOS:000370259205073en_US
dc.identifier.scopus2-s2.0-84940935059en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1109/ACC.2015.7172173-
dc.relation.doi10.1109/ACC.2015.7172173en_US
dc.coverage.doi10.1109/ACC.2015.7172173en_US
dc.identifier.scopusquality--
item.openairetypeConference Object-
item.languageiso639-1en-
item.fulltextWith Fulltext-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
item.grantfulltextopen-
crisitem.author.dept03.05. Department of Electrical and Electronics 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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