Adaptive self tuning control of robot manipulators with periodic disturbance estimation

A. Delibasi, E. Zergeroglu, I. B. Kucukdemiral, G. Cansever

Research output: Contribution to journalArticle

Abstract

This paper addresses the problem of position tracking control of robot manipulators in the presence of parametric uncertainty and additive periodic disturbances. Specifically, a self tuning, Lyapunov based adaptive controller with desired dynamics compensation term and a disturbance estimator has been designed to ensure that the link position tracking error converges to zero asymptotically, despite the partially linearly parametrizable robot dynamics. Extensive experimental results are provided to illustrate the viability and performance of the proposed controller.
Original languageEnglish
Pages (from-to)48-56
Number of pages9
JournalInternational Journal of Robotics and Automation
Volume25
Issue number1
DOIs
Publication statusPublished - 2010

Fingerprint

Manipulators
Tuning
Robots
Controllers
Telecommunication links
Uncertainty
Compensation and Redress

Keywords

  • robot manipulators
  • model based control
  • adaptive self tuning control
  • disturbance estimation

Cite this

Delibasi, A., Zergeroglu, E., Kucukdemiral, I. B., & Cansever, G. (2010). Adaptive self tuning control of robot manipulators with periodic disturbance estimation. International Journal of Robotics and Automation, 25(1), 48-56. https://doi.org/10.2316/Journal.206.2010.1.206-3298
Delibasi, A. ; Zergeroglu, E. ; Kucukdemiral, I. B. ; Cansever, G. / Adaptive self tuning control of robot manipulators with periodic disturbance estimation. In: International Journal of Robotics and Automation. 2010 ; Vol. 25, No. 1. pp. 48-56.
@article{9ed721ed37a442ccbb5e40802083ce22,
title = "Adaptive self tuning control of robot manipulators with periodic disturbance estimation",
abstract = "This paper addresses the problem of position tracking control of robot manipulators in the presence of parametric uncertainty and additive periodic disturbances. Specifically, a self tuning, Lyapunov based adaptive controller with desired dynamics compensation term and a disturbance estimator has been designed to ensure that the link position tracking error converges to zero asymptotically, despite the partially linearly parametrizable robot dynamics. Extensive experimental results are provided to illustrate the viability and performance of the proposed controller.",
keywords = "robot manipulators, model based control, adaptive self tuning control, disturbance estimation",
author = "A. Delibasi and E. Zergeroglu and Kucukdemiral, {I. B.} and G. Cansever",
year = "2010",
doi = "10.2316/Journal.206.2010.1.206-3298",
language = "English",
volume = "25",
pages = "48--56",
number = "1",

}

Delibasi, A, Zergeroglu, E, Kucukdemiral, IB & Cansever, G 2010, 'Adaptive self tuning control of robot manipulators with periodic disturbance estimation', International Journal of Robotics and Automation, vol. 25, no. 1, pp. 48-56. https://doi.org/10.2316/Journal.206.2010.1.206-3298

Adaptive self tuning control of robot manipulators with periodic disturbance estimation. / Delibasi, A.; Zergeroglu, E.; Kucukdemiral, I. B.; Cansever, G.

In: International Journal of Robotics and Automation, Vol. 25, No. 1, 2010, p. 48-56.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Adaptive self tuning control of robot manipulators with periodic disturbance estimation

AU - Delibasi, A.

AU - Zergeroglu, E.

AU - Kucukdemiral, I. B.

AU - Cansever, G.

PY - 2010

Y1 - 2010

N2 - This paper addresses the problem of position tracking control of robot manipulators in the presence of parametric uncertainty and additive periodic disturbances. Specifically, a self tuning, Lyapunov based adaptive controller with desired dynamics compensation term and a disturbance estimator has been designed to ensure that the link position tracking error converges to zero asymptotically, despite the partially linearly parametrizable robot dynamics. Extensive experimental results are provided to illustrate the viability and performance of the proposed controller.

AB - This paper addresses the problem of position tracking control of robot manipulators in the presence of parametric uncertainty and additive periodic disturbances. Specifically, a self tuning, Lyapunov based adaptive controller with desired dynamics compensation term and a disturbance estimator has been designed to ensure that the link position tracking error converges to zero asymptotically, despite the partially linearly parametrizable robot dynamics. Extensive experimental results are provided to illustrate the viability and performance of the proposed controller.

KW - robot manipulators

KW - model based control

KW - adaptive self tuning control

KW - disturbance estimation

U2 - 10.2316/Journal.206.2010.1.206-3298

DO - 10.2316/Journal.206.2010.1.206-3298

M3 - Article

VL - 25

SP - 48

EP - 56

IS - 1

ER -

Delibasi A, Zergeroglu E, Kucukdemiral IB, Cansever G. Adaptive self tuning control of robot manipulators with periodic disturbance estimation. International Journal of Robotics and Automation. 2010;25(1):48-56. https://doi.org/10.2316/Journal.206.2010.1.206-3298