Show simple item record

dc.contributor.authorDogan, K. Merve
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorZergeroglu, Erkan
dc.date.accessioned2021-02-12T18:47:48Z
dc.date.available2021-02-12T18:47:48Z
dc.date.issued2015
dc.identifier.isbn978-1-4799-7787-1
dc.identifier.issn1085-1992
dc.identifier.urihttps://hdl.handle.net/11147/10321
dc.descriptionIEEE Conference on Control and Applications (CCA)en_US
dc.descriptionTatlicioglu, Enver/0000-0001-5623-9975en_US
dc.description.abstractIn this work, we consider the problem of operational/task space tracking control of a robot manipulator where a periodic desired end-effector pose is to be tracked. Specifically, we designed a repetitive learning controller that guarantees asymptotic end-effector tracking of periodic trajectories (with known period) while "learning" the overall uncertainties in the system dynamics. The proposed controller does not make use of the inverse kinematic formulation on the position level and the stability of the closed-loop system is guaranteed via Lyapunov based arguments. Numerical studies are conducted on a two link planar robot are presented to illustrate the performance and viability of the proposed method.en_US
dc.description.sponsorshipIEEE, IEEE Control Syst Soc, IFAC, Univ New S Wales, Univ Melbourne, Univ Newcastle, MathWorks, IEEE CAA Journal Automatica Sinica, Univ Western Australiaen_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.ispartofseriesIEEE International Conference on Control Applications
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.titleOperational/Task Space Learning Control of Robot Manipulators with Dynamical Uncertaintiesen_US
dc.typeconferenceObjecten_US
dc.typeconferenceObjecten_US
dc.relation.journal2015 Ieee Conference On Control And Applications (Cca 2015)en_US
dc.contributor.departmentIzmir Isntitute of Technologyen_US
dc.identifier.startpage527en_US
dc.identifier.endpage532en_US
dc.identifier.wosWOS:000369332000077
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US


Files in this item

FilesSizeFormatView

There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record