On Adaptive Output Feedback Controf Robotic Manipulators With Online Disturbance Estimation
| dc.contributor.author | Aksoy, Orhan | |
| dc.contributor.author | Zergeroğlu, Erkan | |
| dc.contributor.author | Tatlıcıoğlu, Enver | |
| dc.coverage.doi | 10.1007/s10846-016-0405-5 | |
| dc.date.accessioned | 2017-10-13T13:31:33Z | |
| dc.date.available | 2017-10-13T13:31:33Z | |
| dc.date.issued | 2017 | |
| dc.description.abstract | The problem of disturbance estimation and compensation for adaptive output feedback type controllers are investigated. Specifically two adaptive output feedback controllers designed for robotic manipulators are extended to compensate external disturbances which are common in robotic applications with repetitive task. The uncertain disturbance term in the robot dynamics is modeled as a fixed term plus a combination of sinusoidal signals. The overall stability and convergence of the tracking error for both controllers is ensured via Lyapunov based analysis. Extensive simulation studies are presented to illustrate the feasibility of the proposed method. | en_US |
| dc.identifier.citation | Aksoy, O., Zergeroğlu, E., and Tatlıcıoğlu, E. (2017). On adaptive output feedback controf robotic manipulators with online disturbance estimation. Journal of Intelligent and Robotic Systems: Theory and Applications, 85(3-4), 633-649. doi:10.1007/s10846-016-0405-5 | en_US |
| dc.identifier.doi | 10.1007/s10846-016-0405-5 | en_US |
| dc.identifier.issn | 0921-0296 | |
| dc.identifier.issn | 1573-0409 | |
| dc.identifier.scopus | 2-s2.0-84979257076 | |
| dc.identifier.uri | http://doi.org/10.1007/s10846-016-0405-5 | |
| dc.identifier.uri | http://hdl.handle.net/11147/6353 | |
| dc.language.iso | en | en_US |
| dc.publisher | Springer Verlag | en_US |
| dc.relation.ispartof | Journal of Intelligent and Robotic Systems: Theory and Applications | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Adaptive control systems | en_US |
| dc.subject | Output feedback controllers | en_US |
| dc.subject | Manipulators | en_US |
| dc.subject | Robotic manipulators | en_US |
| dc.title | On Adaptive Output Feedback Controf Robotic Manipulators With Online Disturbance Estimation | en_US |
| dc.type | Article | en_US |
| dspace.entity.type | Publication | |
| gdc.author.institutional | Tatlıcıoğlu, Enver | |
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| gdc.description.department | İzmir Institute of Technology. Electrical and Electronics Engineering | en_US |
| gdc.description.endpage | 649 | en_US |
| gdc.description.issue | 3-4 | en_US |
| gdc.description.publicationcategory | Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | Q2 | |
| gdc.description.startpage | 633 | en_US |
| gdc.description.volume | 85 | en_US |
| gdc.description.wosquality | Q3 | |
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| gdc.oaire.keywords | Manipulators | |
| gdc.oaire.keywords | Robotic manipulators | |
| gdc.oaire.keywords | Adaptive control systems | |
| gdc.oaire.keywords | Output feedback controllers | |
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