Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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Article Citation - WoS: 9Citation - Scopus: 13Nonlinear Robust Control of Tendon–driven Robot Manipulators(Springer Verlag, 2015) Okur, Beytullah; Aksoy, Orhan; Zergeroglu, Erkan; Tatlıcıoglu, EnverThis work addresses the position tracking control problem for tendon–driven robotic mechanisms in the presence of parametric uncertainty and additive external disturbances. Specifically, a full state feedback nonlinear robust controller is proposed to tackle the link position tracking problem for tendon–driven robot manipulators with uncertain dynamical system parameters. A robust backstepping approach has been utilized to achieve uniformly ultimately bounded tracking performance despite the lack of exact knowledge of the dynamical parameters and presence of additive but bounded disturbance terms. Stability of the overall system is proven via Lyapunov based arguments. Simulation studies performed on a two link planar robot manipulator driven by a six tendon mechanism are presented to illustrate the effectiveness and viability of the proposed approach.Conference Object Citation - WoS: 2Citation - Scopus: 2Nonlinear Adaptive Partial State Feedback Trajectory Tracking Control of Tendon Driven Robot Manipulators(Institute of Electrical and Electronics Engineers Inc., 2014) Okur, Beytullah; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver; Aksoy, OrhanIn this work, the link position tracking control problem of a tendon driven robotic system is studied in the presence of parametric uncertainty and lack of velocity measurements both of links and actuators. A partial state feedback nonlinear adaptive controller is proposed to deal with the unmeasurable states and uncertain dynamical system parameters. A backstepping approach has been utilized to develop the control strategy. The proposed nonlinear tracking controller utilizes online update laws to adapt for parametric uncertainties, and requires only link and actuator position measurements and tendon tension measurements. Need for link velocity measurements are eliminated by using a nonlinear filter, and a set of linear filters is designed to estimate the actuator velocities. Lyapunov based arguments have been applied to prove the stability of the closed-loop system and semi-global asymptotic link position tracking is achieved. © 2014 IEEE.