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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.

Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği