Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/6353
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dc.contributor.authorAksoy, Orhan-
dc.contributor.authorZergeroğlu, Erkan-
dc.contributor.authorTatlıcıoğlu, Enver-
dc.date.accessioned2017-10-13T13:31:33Z-
dc.date.available2017-10-13T13:31:33Z-
dc.date.issued2017-03-
dc.identifier.citationAksoy, 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/s10846-016-0405-5en_US
dc.identifier.issn0921-0296-
dc.identifier.issn1573-0409-
dc.identifier.urihttp://doi.org/10.1007/s10846-016-0405-5-
dc.identifier.urihttp://hdl.handle.net/11147/6353-
dc.description.abstractThe 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.en_US
dc.language.isoenen_US
dc.publisherSpringer Verlagen_US
dc.relation.ispartofJournal of Intelligent and Robotic Systems: Theory and Applicationsen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectAdaptive control systemsen_US
dc.subjectOutput feedback controllersen_US
dc.subjectManipulatorsen_US
dc.subjectRobotic manipulatorsen_US
dc.titleOn adaptive output feedback controf robotic manipulators with online disturbance estimationen_US
dc.typeArticleen_US
dc.authoridTR123720en_US
dc.institutionauthorTatlıcıoğlu, Enver-
dc.departmentİzmir Institute of Technology. Electrical and Electronics Engineeringen_US
dc.identifier.volume85en_US
dc.identifier.issue3-4en_US
dc.identifier.startpage633en_US
dc.identifier.endpage649en_US
dc.identifier.wosWOS:000398054300014en_US
dc.identifier.scopus2-s2.0-84979257076en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1007/s10846-016-0405-5-
dc.relation.doi10.1007/s10846-016-0405-5en_US
dc.coverage.doi10.1007/s10846-016-0405-5en_US
dc.identifier.wosqualityQ3-
dc.identifier.scopusqualityQ1-
item.openairetypeArticle-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
item.languageiso639-1en-
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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