Robust State/Output-Feedback Control of Robotic Manipulators: An Adaptive Fuzzy-Logic-Based Approach With Self-Organized Membership Functions

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dc.authoridYilmaz, Bayram Melih/0000-0002-6974-8012
dc.authoridTatlicioglu, Enver/0000-0001-5623-9975
dc.authorscopusid57193651852
dc.authorscopusid14034778100
dc.authorscopusid13608833200
dc.authorscopusid55899323700
dc.contributor.authorYilmaz, B. Melih
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorSavran, Aydogan
dc.contributor.authorAlci, Musa
dc.date.accessioned2023-01-12T20:01:33Z
dc.date.available2023-01-12T20:01:33Z
dc.date.issued2022
dc.departmentN/A/Departmenten_US
dc.description.abstractThis article aims to design a joint space tracking controller for robotic manipulators having uncertainties in their mathematical representations under the additional constraint that joint velocity sensing not being available. A two-part design is followed where in the first part, the modeling uncertainties are dealt with a self-organized adaptive fuzzy-logic (AFL)-based controller where full-state feedback (FSFB) is assumed. The stability analysis yields semiglobally uniformly ultimately bounded tracking results. In the second part, a high-gain joint velocity observer is designed followed by replacing error vectors in the FSFB controller with their saturated versions obtained from the observer design to arrive at a self-organized AFL-based robust output-feedback controller. The stability analysis is performed via a multiple-step Lyapunov-type method where the semiglobal uniform ultimate boundedness of the tracking error is ensured. Comparative experiment results obtained from a planar robotic manipulator are presented to demonstrate the efficacy of the proposed control methodology.en_US
dc.identifier.doi10.1109/TSMC.2022.3224255
dc.identifier.issn2168-2216
dc.identifier.issn2168-2232
dc.identifier.issn2168-2216en_US
dc.identifier.issn2168-2232en_US
dc.identifier.scopus2-s2.0-85144755289en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.urihttps://doi.org/10.1109/TSMC.2022.3224255
dc.identifier.urihttps://hdl.handle.net/11454/77490
dc.identifier.wosWOS:000899917700001en_US
dc.identifier.wosqualityQ1en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIeee-Inst Electrical Electronics Engineers Incen_US
dc.relation.ispartofIeee Transactions On Systems Man Cybernetics-Systemsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectAdaptive fuzzy logic (AFL)en_US
dc.subjectfuzzy approximationen_US
dc.subjecthigh-gain observer (HGO)en_US
dc.subjectLyapunov methodsen_US
dc.subjectoutput-feedback (OFB) controlen_US
dc.subjectrobot manipulatorsen_US
dc.subjectuniversal fuzzy controlleren_US
dc.subjectStabilizationen_US
dc.subjectDesignen_US
dc.titleRobust State/Output-Feedback Control of Robotic Manipulators: An Adaptive Fuzzy-Logic-Based Approach With Self-Organized Membership Functionsen_US
dc.typeArticleen_US

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