Position Tracking Constrained Adaptive Output Feedback Control of Robotic Manipulators

Basit Öğe Kaydı
dc.authorscopusid57219736324
dc.authorscopusid57220036361
dc.authorscopusid14034778100
dc.contributor.authorGul, Samet
dc.contributor.authorZergeroglu, Erkan
dc.contributor.authorTatlicioglu, Enver
dc.date.accessioned2023-01-12T20:02:41Z
dc.date.available2023-01-12T20:02:41Z
dc.date.issued2022
dc.departmentN/A/Departmenten_US
dc.description.abstractThis work presents the design and the corresponding stability analysis of a model-based, joint position tracking error constrained, adaptive output feedback (OFB) controller for robot manipulators. Specifically, provided that the initial joint position tracking error starts within a predefined region, the proposed controller algorithm ensures that the joint tracking error remains inside this region and asymptotically approaches zero, despite the lack of joint velocity measurements and uncertainties associated with the system dynamics. The constraint imposed on the position tracking error term ensures predictable overshoot for the overall system and enables a predetermined transient performance. The need for the joint velocity measurements is removed via the use of a surrogate filter formulation in conjunction with the use of desired model compensation. The stability and the convergence of the closed-loop system are proved via a barrier Lyapunov function (BLF)-based argument. Extensive numerical simulations and experimental studies performed on a two-link, direct-drive robotic manipulator are provided to illustrate the feasibility and effectiveness of the proposed method.en_US
dc.identifier.doi10.1115/1.4055291
dc.identifier.issn0022-0434
dc.identifier.issn1528-9028
dc.identifier.issn0022-0434en_US
dc.identifier.issn1528-9028en_US
dc.identifier.issue11en_US
dc.identifier.scopus2-s2.0-85144624680en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.urihttps://doi.org/10.1115/1.4055291
dc.identifier.urihttps://hdl.handle.net/11454/77614
dc.identifier.volume144en_US
dc.identifier.wosWOS:000859719300004en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherAsmeen_US
dc.relation.ispartofJournal Of Dynamic Systems Measurement And Control-Transactions Of The Asmeen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectBarrier Lyapunov Functionsen_US
dc.subjectPrescribed Performanceen_US
dc.subjectSystemsen_US
dc.titlePosition Tracking Constrained Adaptive Output Feedback Control of Robotic Manipulatorsen_US
dc.typeArticleen_US

Dosyalar

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu