Robust Prescribed Time Control of Euler–Lagrange Systems

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dc.authoridObuz, Serhat/0000-0002-3060-9306
dc.authoridTatlicioglu, Enver/0000-0001-5623-9975
dc.authoridZergeroglu, Erkan/0000-0002-1211-0448
dc.authoridselim, erman/0000-0003-4479-0406
dc.contributor.authorObuz, Serhat
dc.contributor.authorSelim, Erman
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorZergeroglu, Erkan
dc.date.accessioned2024-08-31T07:50:38Z
dc.date.available2024-08-31T07:50:38Z
dc.date.issued2024
dc.departmentEge Üniversitesien_US
dc.description.abstractThis article aims to develop a robust prescribed time controller for precise trajectory tracking for uncertain Euler-Lagrange systems with unknown time-varying disturbances without prior knowledge of their upper bounds. The control strategy involves utilizing a scaled transformation function to map the standard error system to a scaled error system. The presented controller is developed based on the scaled error system, incorporating state-dependent control gains and yielding a model-free controller structure. Distinguishing from previous methods, the designed controller takes a different approach by avoiding the direct multiplication of feedback terms with the estimated inertia matrix. The developed strategy mitigates the adverse effects of mismatches between the actual and estimated inertia matrices. A novel Lyapunov-based stability analysis is employed to establish fixed-time input-to-state stability within the prescribed time and to ensure the convergence of error signals to the origin. Experimental validation on a three-degree-of-freedom planar robot arm confirms the effectiveness of the proposed controller.en_US
dc.description.sponsorshipScientific and Technological Research Council of Turkiye (TUBITAK) [121E383]en_US
dc.description.sponsorshipThis work was supported by the Scientific and Technological Research Council of Turkiye (TUBITAK) under Grant 121E383.en_US
dc.identifier.doi10.1109/TIE.2024.3417995
dc.identifier.issn0278-0046
dc.identifier.issn1557-9948
dc.identifier.urihttps://doi.org/10.1109/TIE.2024.3417995
dc.identifier.urihttps://hdl.handle.net/11454/105309
dc.identifier.wosWOS:001273006300001en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.language.isoenen_US
dc.publisherIEEE-Inst Electrical Electronics Engineers Incen_US
dc.relation.ispartofIEEE Transactions on Industrial Electronicsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.snmz20240831_Uen_US
dc.subjectVectorsen_US
dc.subjectNonlinear Systemsen_US
dc.subjectControl Designen_US
dc.subjectUpper Bounden_US
dc.subjectManipulator Dynamicsen_US
dc.subjectUncertaintyen_US
dc.subjectTransmission Line Matrix Methodsen_US
dc.subjectLyapunov Methodsen_US
dc.subjectPrescribed Time Controlen_US
dc.subjectRobot Manipulatorsen_US
dc.subjectRobust Controlen_US
dc.titleRobust Prescribed Time Control of Euler–Lagrange Systemsen_US
dc.typeArticleen_US

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