Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Publisher: search.filters.publisher.Institute of Electrical and Electronics Engineers Inc.Subject: search.filters.subject.Robot applications

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  • Conference Object
    Citation - WoS: 9
    Citation - Scopus: 9
    Observer Based Adaptive Output Feedback Tracking Control of Robot Manipulators
    (Institute of Electrical and Electronics Engineers Inc., 2010) Zergeroğlu, Erkan; Tatlıcıoğlu, Enver
    In this paper, we propose an observer based adaptive output feedback (OFB) tracking controller for rigid-link robot manipulators. Specifically, we used a model independent observer in conjuction with a desired compensation adaptation law (DCAL) to remove the link velocity dependency of the controller and achieved asymptotic stability of the observer-controller couple despite the uncertainties associated with the system dynamics. Lyapunov based arguments are utilized to illustrate the stability of the proposed controller. Simulation results are included to demonstrate the performance of observer-controller couple.
  • Conference Object
    Citation - WoS: 5
    Citation - Scopus: 8
    Teleoperation With Kinematically Redundant Robot Manipulators With Sub-Task Objectives
    (Institute of Electrical and Electronics Engineers Inc., 2008) Nath, Nitendra; Tatlıcıoğlu, Enver; Dawson, Darren M.
    In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user and environmental input forces are unmeasurable. Lyapunovbased stability analysis is used to prove that the proposed controller yields asymptotic tracking results and ensures the coordination of the master and slave systems while satisfying a sub-task objective.