Desired model compensation-based position constrained control of robotic manipulators

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dc.authoridTatlicioglu, Enver/0000-0001-5623-9975
dc.authorscopusid57219736324
dc.authorscopusid57220036361
dc.authorscopusid14034778100
dc.authorscopusid57219741496
dc.contributor.authorGul, Samet
dc.contributor.authorZergeroglu, Erkan
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorKilinc, Mesih Veysi
dc.date.accessioned2023-01-12T19:58:32Z
dc.date.available2023-01-12T19:58:32Z
dc.date.issued2022
dc.departmentN/A/Departmenten_US
dc.description.abstractThis work presents the design and the corresponding stability analysis of a desired model-based, joint position constrained, controller formulation for robotic manipulators. Specifically, provided that the initial joint position tracking error signal starts within some predefined region, the proposed controller ensures that the joint tracking error signal remains inside this region and approaches to zero asymptotically. Extensive numerical simulations and experimental studies performed on a two-link direct-drive planar robot are provided in order to illustrate the effectiveness and feasibility of the proposed controller.en_US
dc.identifier.doi10.1017/S0263574721000527
dc.identifier.endpage293en_US
dc.identifier.issn0263-5747
dc.identifier.issn1469-8668
dc.identifier.issn0263-5747en_US
dc.identifier.issn1469-8668en_US
dc.identifier.issue2en_US
dc.identifier.scopus2-s2.0-85106861770en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage279en_US
dc.identifier.urihttps://doi.org/10.1017/S0263574721000527
dc.identifier.urihttps://hdl.handle.net/11454/76940
dc.identifier.volume40en_US
dc.identifier.wosWOS:000739863500006en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherCambridge Univ Pressen_US
dc.relation.ispartofRoboticaen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectRobotic manipulatorsen_US
dc.subjectPosition constrainten_US
dc.subjectFull-state feedbacken_US
dc.subjectLyapunov-based approachen_US
dc.subjectBarrier Lyapunov Functionsen_US
dc.subjectPure-Feedback Systemsen_US
dc.subjectPrescribed Performanceen_US
dc.subjectAdaptive-Controlen_US
dc.subjectTrackingen_US
dc.titleDesired model compensation-based position constrained control of robotic manipulatorsen_US
dc.typeArticleen_US

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