Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/6148
Title: Inverse optimal adaptive output feedback control of Euler-Lagrange systems: A variable structure observer based approach
Authors: Aksoy, Orhan
Zergeroğlu, Erkan
Tatlıcıoğlu, Enver
Keywords: Adaptive systems
Cost function
Nonlinear systems
Observers
Output feedback
Yttrium
Issue Date: 2015
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Aksoy, O., Zergeroğlu, E., and Tatlıcıoğlu, E. (2015, December 15-18). Inverse optimal adaptive output feedback control of Euler-Lagrange systems: A variable structure observer based approach. Paper presented at the 54th IEEE Conference on Decision and Control, CDC 2015. doi:10.1109/CDC.2015.7403427
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.
Description: 54th IEEE Conference on Decision and Control, CDC 2015; Osaka International Convention Center (Grand Cube)5-3-51 Nakanoshima, Kita-KuOsaka; Japan; 15 December 2015 through 18 December 2015
URI: http://doi.org/10.1109/CDC.2015.7403427
http://hdl.handle.net/11147/6148
ISBN: 9781479978861
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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