Observer Based Output Feedback Tracking Control of Robot Manipulators
| dc.contributor.author | Zergeroğlu, Erkan | |
| dc.contributor.author | Tatlıcıoğlu, Enver | |
| dc.coverage.doi | 10.1109/CCA.2010.5611207 | |
| dc.date.accessioned | 2016-11-24T09:38:29Z | |
| dc.date.available | 2016-11-24T09:38:29Z | |
| dc.date.issued | 2010 | |
| dc.description | IEEE International Conference on Control Applications, CCA 2010; Yokohama; Japan; 8 September 2010 through 10 September 2010 | en_US |
| dc.description.abstract | In this paper, we developed a new observer based output feedback (OFB) tracking controller for rigid-link robot manipulators. Specifically, a model independent variable structure like observer structure in conjunction with the use of desired system dynamics in the controller design have been utilized to remove the link velocity dependency of the controller and the asymptotic stability of the observer-controller couple is then guaranteed via Lyapunov based arguments. Simulation results are included to demonstrate the observer/controller performance. | en_US |
| dc.identifier.citation | Zergeroğlu, E., and Tatlıcıoğlu, E. (2010, September 8-10). Observer based output feedback tracking control of robot manipulators. Paper presented at the IEEE International Conference on Control Applications, CCA 2010. doi:10.1109/CCA.2010.5611207 | en_US |
| dc.identifier.doi | 10.1109/CCA.2010.5611207 | en_US |
| dc.identifier.doi | 10.1109/CCA.2010.5611207 | |
| dc.identifier.isbn | 9781424453627 | |
| dc.identifier.scopus | 2-s2.0-78649393417 | |
| dc.identifier.uri | http://doi.org/10.1109/CCA.2010.5611207 | |
| dc.identifier.uri | https://hdl.handle.net/11147/2514 | |
| dc.language.iso | en | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
| dc.relation.ispartof | IEEE International Conference on Control Applications, CCA 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 | Flexible manipulators | en_US |
| dc.subject | Modular robots | en_US |
| dc.subject | Observer structure | en_US |
| dc.title | Observer Based Output Feedback Tracking Control of Robot Manipulators | 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. Electrical and Electronics Engineering | en_US |
| gdc.description.endpage | 607 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | N/A | |
| gdc.description.startpage | 602 | en_US |
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| gdc.oaire.keywords | Observer structure | |
| gdc.oaire.keywords | Controllers | |
| gdc.oaire.keywords | Modular robots | |
| gdc.oaire.keywords | Asymptotic stability | |
| gdc.oaire.keywords | Flexible manipulators | |
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