Continuous Robust Task-Space Tracking Control of Robotic Manipulators With Uncertain Dynamics
| dc.contributor.author | Cetin, K. | |
| dc.contributor.author | Tatlicioglu, E. | |
| dc.contributor.author | Zergeroglu, E. | |
| dc.date.accessioned | 2021-01-24T18:31:44Z | |
| dc.date.available | 2021-01-24T18:31:44Z | |
| dc.date.issued | 2015 | |
| dc.description.abstract | In this work, the problem of robust task space control of robotic manipulators with continuous control inputs have been considered. Under mild assumptions on kinematic formulation and dynamics of the robot manipulator, a continuous robust controller have been proposed. The proposed controller ensures asymptotic end-effector tracking despite the presence of unstructured uncertainties associated with the dynamical terms. Numerical simulations conducted on a two degree-of-freedom robot manipulator is also presented to illustrate the feasibility and performance of the proposed controller. © 2015 IEEE. | en_US |
| dc.identifier.doi | 10.1109/CCA.2015.7320647 | |
| dc.identifier.isbn | 9781479977871 | |
| dc.identifier.scopus | 2-s2.0-84964329785 | |
| dc.identifier.uri | https://doi.org/10.1109/CCA.2015.7320647 | |
| dc.identifier.uri | https://hdl.handle.net/11147/9937 | |
| dc.language.iso | en | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
| dc.relation.ispartof | 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings -- IEEE Conference on Control and Applications, CCA 2015 -- 21 September 2015 through 23 September 2015 -- Sydney -- 118626 | en_US |
| dc.relation.ispartofseries | IEEE International Conference on Control Applications | |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.title | Continuous Robust Task-Space Tracking Control of Robotic Manipulators With Uncertain Dynamics | en_US |
| dc.type | Conference Object | en_US |
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| gdc.author.institutional | Tatlıcıoğlu, Enver | |
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| gdc.description.department | İzmir Institute of Technology | en_US |
| gdc.description.departmenttemp | Cetin K., Department of Electrical and Electronics Engineering, Gediz University, Izmir, Turkey; Tatlicioglu E., Department of Electrical and Electronics Engineering, Izmir Institute of Technology, Izmir, 35430, Turkey; Zergeroglu E., Department of Computer Engineering, Gebze Institute of Technology, Gebze, Kocaeli, 41400, Turkey | en_US |
| gdc.description.endpage | 317 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | N/A | |
| gdc.description.startpage | 312 | en_US |
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