Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/6353
Title: On adaptive output feedback controf robotic manipulators with online disturbance estimation
Authors: Aksoy, Orhan
Zergeroğlu, Erkan
Tatlıcıoğlu, Enver
Keywords: Adaptive control systems
Output feedback controllers
Manipulators
Robotic manipulators
Issue Date: Mar-2017
Publisher: Springer Verlag
Source: Aksoy, O., Zergeroğlu, E., and Tatlıcıoğlu, E. (2017). On adaptive output feedback controf robotic manipulators with online disturbance estimation. Journal of Intelligent and Robotic Systems: Theory and Applications, 85(3-4), 633-649. doi:10.1007/s10846-016-0405-5
Abstract: The problem of disturbance estimation and compensation for adaptive output feedback type controllers are investigated. Specifically two adaptive output feedback controllers designed for robotic manipulators are extended to compensate external disturbances which are common in robotic applications with repetitive task. The uncertain disturbance term in the robot dynamics is modeled as a fixed term plus a combination of sinusoidal signals. The overall stability and convergence of the tracking error for both controllers is ensured via Lyapunov based analysis. Extensive simulation studies are presented to illustrate the feasibility of the proposed method.
URI: http://doi.org/10.1007/s10846-016-0405-5
http://hdl.handle.net/11147/6353
ISSN: 0921-0296
1573-0409
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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