Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/11

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Has files: YesPublisher: search.filters.publisher.Cambridge University Press

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  • Article
    Citation - WoS: 6
    Citation - Scopus: 8
    A Model Independent Observer Based Output Feedback Tracking Controller for Robotic Manipulators With Dynamical Uncertainties
    (Cambridge University Press, 2017) Zergeroğlu, Erkan; Tatlıcıoğlu, Enver; Kaleli, Egemen
    In this work, we propose the development and the corresponding stability analysis of a novel, observer-based output feedback (OFB), tracking controller for rigid-link robot manipulators. Specifically, a model-independent variable-structure-like observer in conjunction with a desired dynamic compensation technique have been utilized to remove the link velocity dependency of the controller formulation. Asymptotic stability of the observer - controller couple is then guaranteed via Lyapunov-based arguments. An adaptive controller extension is also presented to illustrate the expansiveness of the proposed scheme. Experimental studies performed on a two-link planar robot with dynamical uncertainties are included in order to demonstrate the performance and feasibility of the proposed method.
  • Article
    Citation - WoS: 43
    Citation - Scopus: 48
    Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives
    (Cambridge University Press, 2009) Tatlıcıoğlu, Enver; Braganza, David; Burg, Timothy C.; Dawson, Darren M.
    In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general sub-task controller for self-motion control. The control objectives are achieved by designing a feedback linearizing controller that includes a least-squares estimation algorithm to compensate for the parametric uncertainties. Numerical simulation results are presented to show the validity of the proposed controller.