Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/5837
Title: A model independent observer based output feedback tracking controller for robotic manipulators with dynamical uncertainties
Authors: Zergeroğlu, Erkan
Tatlıcıoğlu, Enver
Kaleli, Egemen
Keywords: Adaptive systems
Observer based design
Output feedback controllers
Manipulators
Robot applications
Issue Date: Apr-2017
Publisher: Cambridge University Press
Source: Zergeroğlu, E., Tatlıcıoğlu, E., and Kaleli, E. (2017). A model independent observer based output feedback tracking controller for robotic manipulators with dynamical uncertainties. Robotica, 35(4), 729-743. doi:10.1017/S026357471500079X
Abstract: In this work, we propose the development and the corresponding stability analysis of a novel, observer-based output feedback (OFB), tracking controller for rigid-link robot manipulators. Specifically, a model-independent variable-structure-like observer in conjunction with a desired dynamic compensation technique have been utilized to remove the link velocity dependency of the controller formulation. Asymptotic stability of the observer - controller couple is then guaranteed via Lyapunov-based arguments. An adaptive controller extension is also presented to illustrate the expansiveness of the proposed scheme. Experimental studies performed on a two-link planar robot with dynamical uncertainties are included in order to demonstrate the performance and feasibility of the proposed method.
URI: https://doi.org/10.1017/S026357471500079X
http://hdl.handle.net/11147/5837
ISSN: 0263-5747
1469-8668
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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