Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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Conference Object Citation - WoS: 5Citation - Scopus: 7Nonlinear Control of Tendon Driven Robot Manipulators: Elimination of Actuator Side Position Measurements(Institute of Electrical and Electronics Engineers Inc., 2015) Okur, Beytullah; Zergeroğlu, Erkan; Tatlıcıoğlu, EnverIn this study, a partial state feedback controller is proposed for the link position tracking control problem of flexible tendon driven robotic systems. Specifically; a nonlinear model based controller is formulated for tendon driven robot manipulators under the constraint that only the link position and tendon expansion force measurements are available. Despite the lack of link and actuator side velocity and actuator position measurements, the proposed controller ensures exponential link position tracking. To eliminate the need of actuator position and velocity measurements, a model based velocity observer has been utilized. Stability of the closed loop system and boundedness of system states are proven via Lyapunov based arguments. The performance of the purposed observer-controller couple is then verified by a set of numerical simulations.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.