Adaptive Cartesian space control of robotic manipulators: A concurrent learning based approach?

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dc.authoridObuz, Serhat/0000-0002-3060-9306
dc.contributor.authorObuz, Serhat
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorZergeroglu, Erkan
dc.date.accessioned2024-08-31T07:47:49Z
dc.date.available2024-08-31T07:47:49Z
dc.date.issued2024
dc.departmentEge Üniversitesien_US
dc.description.abstractThis work introduces a concurrent learning -based adaptive control design for end -effector tracking and the corresponding stability analysis for robotic manipulators. The presented controller is developed directly in Cartesian space, thereby removing the necessity for inverse kinematics calculations at the position level. The designed adaptive controller ensures global exponential tracking of the end -effector in Cartesian space. Moreover, the developed controller assures globally exponential convergence of uncertain dynamical parameters to their actual values without demanding persistence excitation conditions via a combination of a standard gradient -based adaptation with a novel integral concurrent learning component. The developed integral concurrent learning part operates both real-time output data and the most informative historical data gathered by employing the singular -value maximization algorithm (SVMA) to reduce the size of memory allocation. Lyapunov-based arguments are applied to ensure the exponential stability of the closed -loop system. Numerical studies are performed to depict the feasibility and performance of the proposed design.en_US
dc.identifier.doi10.1016/j.jfranklin.2024.106701
dc.identifier.issn0016-0032
dc.identifier.issn1879-2693
dc.identifier.issue6en_US
dc.identifier.scopus2-s2.0-85187962507en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.urihttps://doi.org/10.1016/j.jfranklin.2024.106701
dc.identifier.urihttps://hdl.handle.net/11454/104558
dc.identifier.volume361en_US
dc.identifier.wosWOS:001220729600001en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherPergamon-Elsevier Science Ltden_US
dc.relation.ispartofJournal of The Franklin Institute-Engineering and Applied Mathematicsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.snmz20240831_Uen_US
dc.subjectConcurrent Learningen_US
dc.subjectDirect Cartesian Space Controlen_US
dc.subjectAdaptive Controlen_US
dc.titleAdaptive Cartesian space control of robotic manipulators: A concurrent learning based approach?en_US
dc.typeArticleen_US

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