Observer Based Adaptive Output Feedback Tracking Control of Robot Manipulators
| dc.contributor.author | Zergeroğlu, Erkan | |
| dc.contributor.author | Tatlıcıoğlu, Enver | |
| dc.coverage.doi | 10.1109/CDC.2010.5716953 | |
| dc.date.accessioned | 2016-11-25T09:07:36Z | |
| dc.date.available | 2016-11-25T09:07:36Z | |
| dc.date.issued | 2010 | |
| dc.description | 49th IEEE Conference on Decision and Control, CDC 2010; Atlanta, GA; United States; 15 December 2010 through 17 December 2010 | en_US |
| dc.description.abstract | 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. | en_US |
| dc.identifier.citation | Zergeroğlu, E., and Tatlıcıoğlu, E. (2010, December 15-17). Observer based adaptive output feedback tracking control of robot manipulators. Paper presented at the 49th IEEE Conference on Decision and Control, CDC 2010. doi:10.1109/CDC.2010.5716953 | en_US |
| dc.identifier.doi | 10.1109/CDC.2010.5716953 | |
| dc.identifier.doi | 10.1109/CDC.2010.5716953 | en_US |
| dc.identifier.issn | 0191-2216 | |
| dc.identifier.scopus | 2-s2.0-79953126761 | |
| dc.identifier.uri | http://doi.org/10.1109/CDC.2010.5716953 | |
| dc.identifier.uri | https://hdl.handle.net/11147/2521 | |
| dc.language.iso | en | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
| dc.relation.ispartof | IEEE 49th Conference on Decision and Control, CDC 2010 | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Controllers | en_US |
| dc.subject | Asymptotic stability | en_US |
| dc.subject | Robot applications | en_US |
| dc.subject | Industrial robots | en_US |
| dc.subject | Adaptive output feedback | en_US |
| dc.title | Observer Based Adaptive Output Feedback Tracking Control of Robot Manipulators | en_US |
| dc.type | Conference Object | en_US |
| dspace.entity.type | Publication | |
| gdc.author.institutional | Tatlıcıoğlu, Enver | |
| gdc.author.yokid | 21535 | |
| 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 | 3643 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | N/A | |
| gdc.description.startpage | 3638 | en_US |
| gdc.description.wosquality | N/A | |
| gdc.identifier.openalex | W2109754060 | |
| gdc.identifier.wos | WOS:000295049104032 | |
| gdc.index.type | WoS | |
| gdc.index.type | Scopus | |
| gdc.oaire.diamondjournal | false | |
| gdc.oaire.impulse | 0.0 | |
| gdc.oaire.influence | 3.3095942E-9 | |
| gdc.oaire.isgreen | true | |
| gdc.oaire.keywords | Robot applications | |
| gdc.oaire.keywords | Controllers | |
| gdc.oaire.keywords | Asymptotic stability | |
| gdc.oaire.keywords | Adaptive output feedback | |
| gdc.oaire.keywords | Industrial robots | |
| gdc.oaire.popularity | 3.9142565E-9 | |
| gdc.oaire.publicfunded | false | |
| gdc.oaire.sciencefields | 0209 industrial biotechnology | |
| gdc.oaire.sciencefields | 02 engineering and technology | |
| gdc.openalex.collaboration | National | |
| gdc.openalex.fwci | 0.0 | |
| gdc.openalex.normalizedpercentile | 0.14 | |
| gdc.opencitations.count | 7 | |
| gdc.plumx.crossrefcites | 2 | |
| gdc.plumx.mendeley | 8 | |
| gdc.plumx.scopuscites | 9 | |
| gdc.scopus.citedcount | 9 | |
| gdc.wos.citedcount | 9 | |
| relation.isAuthorOfPublication.latestForDiscovery | 2d96991f-198b-4745-9b08-d6a23134f04c | |
| relation.isOrgUnitOfPublication.latestForDiscovery | 9af2b05f-28ac-4018-8abe-a4dfe192da5e |