Adaptive self tuning control of robot manipulators with periodic disturbance estimation

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

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


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
Issue number1
Publication statusPublished - 2010


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


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