Abstract
| Original language | English |
|---|---|
| Pages (from-to) | 48-56 |
| Number of pages | 9 |
| Journal | International Journal of Robotics and Automation |
| Volume | 25 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 2010 |
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Keywords
- robot manipulators
- model based control
- adaptive self tuning control
- disturbance estimation
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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 journal › Article
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 -