Observer based output feedback repetitive learning control of robotic manipulators

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dc.authoridTatlicioglu, Enver/0000-0001-5623-9975
dc.contributor.authorDogan, Kadriye Merve
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorZergeroglu, Erkan
dc.contributor.authorCetin, Kamil
dc.date.accessioned2024-08-31T07:49:38Z
dc.date.available2024-08-31T07:49:38Z
dc.date.issued2024
dc.departmentEge Üniversitesien_US
dc.description.abstractThis work tackles the tracking control problem of robotic manipulators where the robot dynamics contains uncertain parameters and joint velocity measurements are not available. Specifically when the robotic manipulator is required to perform a periodic task repetitively, as in most industrial applications, a repetitive learning controller is proposed that does not require joint velocity measurements and can compensate the uncertainties of the robot dynamical parameters and additive disturbances caused due to the periodic joint motion. The proposed solution is achieved via the use of a novel learning component in the controller design in conjunction with a novel model-free joint velocity observer design. The stability of the closed-loop system and the convergence of both the joint position tracking error and the joint velocity observation error to the origin are guaranteed via Lyapunov based arguments. Experimental results performed on a 2 degree of freedom robot manipulator are presented to demonstrate the performance of the proposed observer-controller couple. When compared with the relevant past works, the main innovation established by this work is the elimination of the need for velocity measurements from the family of saturation function based repetitive controllers which is an application-oriented control methodology introduced to deal with periodic disturbances. imageen_US
dc.description.sponsorshipScientific and Technological Research Council of Turkiye (TUBITAK) [113E147]en_US
dc.description.sponsorshipThe Scientific and Technological Research Council of Turkiye (TUBITAK), Grant/Award Number:113E147en_US
dc.identifier.doi10.1049/cth2.12706
dc.identifier.issn1751-8644
dc.identifier.issn1751-8652
dc.identifier.scopus2-s2.0-85195579991en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.urihttps://doi.org/10.1049/cth2.12706
dc.identifier.urihttps://hdl.handle.net/11454/104930
dc.identifier.wosWOS:001243673200001en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherWileyen_US
dc.relation.ispartofIet Control Theory and Applicationsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.snmz20240831_Uen_US
dc.subjectLyapunov Methodsen_US
dc.subjectRobust Controlen_US
dc.titleObserver based output feedback repetitive learning control of robotic manipulatorsen_US
dc.typeArticleen_US

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