A Dynamic Model Free Observer Based Output Feedback Tracking Control of Robot Manipulators in Task-Space
| dc.contributor.author | Çobanoğlu, Necati | |
| dc.contributor.author | Çetin, Kamil | |
| dc.contributor.author | Tatlıcıoğlu, Enver | |
| dc.contributor.author | Zergeroğlu, Erkan | |
| dc.coverage.doi | 10.23919/ACC.2018.8431450 | |
| dc.date.accessioned | 2019-02-20T11:12:54Z | |
| dc.date.available | 2019-02-20T11:12:54Z | |
| dc.date.issued | 2018 | |
| dc.description | The Scientific and Technological Research Council of Turkey via grant number 115E726 | en_US |
| dc.description.abstract | This paper addresses the output feedback end-effector position tracking control of robotic manipulators. Specifically, via the design of a novel dynamic model independent observer constructed through a Lyapunov type analysis and under the assumption that the manipulator Jacobian is always invertible, we propose a model based nonlinear controller which ensures asymptotic robot end-effector tracking without the need of joint and/or task space velocity measurements. Simulation results are included to illustrate the performance and effectiveness of the proposed method. | en_US |
| dc.description.sponsorship | 2018 Annual American Control Conference, ACC 2018; Wisconsin Center / Hilton Milwauke City CenterMilwauke; United States; 27 June 2018 through 29 June 2018 | en_US |
| dc.identifier.citation | Çobanoğlu, N., Çetin, K., Tatlıcıoğlu, E., and Zergeroğlu, E. (2018, June 27-29). A dynamic model free observer based output feedback tracking control of robot manipulators in task-space. Paper presented at the 2018 Annual American Control Conference, ACC 2018. doi:10.23919/ACC.2018.8431450 | en_US |
| dc.identifier.doi | 10.23919/ACC.2018.8431450 | en_US |
| dc.identifier.doi | 10.23919/ACC.2018.8431450 | |
| dc.identifier.isbn | 9781538654286 | |
| dc.identifier.scopus | 2-s2.0-85052576663 | |
| dc.identifier.uri | http://doi.org/10.23919/ACC.2018.8431450 | |
| dc.identifier.uri | https://hdl.handle.net/11147/7120 | |
| dc.language.iso | en | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
| dc.relation | info:eu-repo/grantAgreement/TUBITAK/EEEAG/115E726 | en_US |
| dc.relation.ispartof | Annual American Control Conference, ACC 2018 | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Robotic manipulators | en_US |
| dc.subject | Task–space | en_US |
| dc.subject | Manipulator dynamics | en_US |
| dc.subject | Jacobian matrices | en_US |
| dc.subject | Task analysis | en_US |
| dc.title | A Dynamic Model Free Observer Based Output Feedback Tracking Control of Robot Manipulators in Task-Space | en_US |
| dc.type | Conference Object | en_US |
| dspace.entity.type | Publication | |
| gdc.author.institutional | Tatlıcıoğlu, Enver | |
| gdc.author.yokid | 123720 | |
| gdc.bip.impulseclass | C5 | |
| gdc.bip.influenceclass | C5 | |
| gdc.bip.popularityclass | C5 | |
| gdc.coar.access | open access | |
| gdc.coar.type | text::conference output | |
| gdc.collaboration.industrial | false | |
| gdc.description.department | İzmir Institute of Technology. Electrical and Electronics Engineering | en_US |
| gdc.description.endpage | 2126 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | N/A | |
| gdc.description.startpage | 2121 | en_US |
| gdc.description.volume | 2018 | en_US |
| gdc.description.wosquality | N/A | |
| gdc.identifier.openalex | W2886165458 | |
| gdc.identifier.wos | WOS:000591256602031 | |
| gdc.index.type | WoS | |
| gdc.index.type | Scopus | |
| gdc.oaire.diamondjournal | false | |
| gdc.oaire.downloads | 4 | |
| gdc.oaire.impulse | 1.0 | |
| gdc.oaire.influence | 2.7122093E-9 | |
| gdc.oaire.isgreen | true | |
| gdc.oaire.keywords | Task analysis | |
| gdc.oaire.keywords | Jacobian matrices | |
| gdc.oaire.keywords | Robotic manipulators | |
| gdc.oaire.keywords | Manipulator dynamics | |
| gdc.oaire.keywords | Task–space | |
| gdc.oaire.popularity | 2.286027E-9 | |
| gdc.oaire.publicfunded | false | |
| gdc.oaire.sciencefields | 0209 industrial biotechnology | |
| gdc.oaire.sciencefields | 0203 mechanical engineering | |
| gdc.oaire.sciencefields | 02 engineering and technology | |
| gdc.oaire.views | 4 | |
| gdc.openalex.collaboration | National | |
| gdc.openalex.fwci | 0.19064887 | |
| gdc.openalex.normalizedpercentile | 0.49 | |
| gdc.opencitations.count | 0 | |
| gdc.plumx.mendeley | 14 | |
| gdc.plumx.scopuscites | 1 | |
| gdc.scopus.citedcount | 1 | |
| gdc.wos.citedcount | 1 | |
| relation.isAuthorOfPublication.latestForDiscovery | 2d96991f-198b-4745-9b08-d6a23134f04c | |
| relation.isOrgUnitOfPublication.latestForDiscovery | 9af2b05f-28ac-4018-8abe-a4dfe192da5e |