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Inverse optimal adaptive output feedback control of Euler-Lagrange systems: A variable structure observer based approach

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Conference Paper (372.8Kb)
Date
2015
Author
Aksoy, Orhan
Zergeroğlu, Erkan
Tatlıcıoğlu, Enver
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Abstract
This work focuses on inverse optimal, observer based output feedback control of Euler-Lagrange systems. Specifically a variable structure observer based output feedback controller is proposed which aside from ensuring asymptotic position tracking also ensures that a positive cost function, penalizing control input performance, is minimized. Simulation studies performed on a two link planar robot manipulator are included to illustrate the overall performance and feasibility of the proposed controller. © 2015 IEEE.
URI
http://doi.org/10.1109/CDC.2015.7403427
http://hdl.handle.net/11147/6148
Collections
  • Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği [286]
  • Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection [3276]
  • WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection [2953]


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