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Upper bounding estimation for robustness to the parameter uncertainty in trajectory control of robot arm

dc.contributor.authorUzmay, İbrahim
dc.contributor.authorBurkan, Recep
dc.date.accessioned2021-03-05T20:54:25Z
dc.date.available2021-03-05T20:54:25Z
dc.date.issued2003
dc.identifier.citationBurkan R., Uzmay İ., "Upper bounding estimation for robustness to the parameter uncertainty in trajectory control of robot arm", ROBOTICS AND AUTONOMOUS SYSTEMS, cilt.45, ss.99-110, 2003
dc.identifier.issn0921-8890
dc.identifier.otherav_d6642672-5841-4d19-9d4d-805d00847537
dc.identifier.othervv_1032021
dc.identifier.urihttp://hdl.handle.net/20.500.12627/141483
dc.identifier.urihttps://doi.org/10.1016/j.robot.2003.07.001
dc.description.abstractIn this paper, a new robust control law is presented for robot manipulators subjected to uncertainties. Stability of the system is established by the Lyapunov function, and a control law that guaranteed the system stability is derived as a result of analytical solution. Apart from previous studies, uncertainty bound is determined with the estimation law to control the system properly and the estimation law is written as an exponential function of robot kinematics, inertia parameters and tracking error. Due to asymptotic stability and increasing convergence rate, tracking performance for the case of transient and steady-state are increased. (C) 2003 Elsevier B.V. All rights reserved.
dc.language.isoeng
dc.subjectBilgisayar Bilimleri
dc.subjectAlgoritmalar
dc.subjectMühendislik ve Teknoloji
dc.subjectROBOT
dc.subjectKontrol ve Sistem Mühendisliği
dc.subjectBilgi Sistemleri, Haberleşme ve Kontrol Mühendisliği
dc.subjectBilgisayar Bilimi
dc.subjectBİLGİSAYAR BİLİMİ, YAPAY ZEKA
dc.subjectMühendislik, Bilişim ve Teknoloji (ENG)
dc.subjectMühendislik
dc.subjectOTOMASYON & KONTROL SİSTEMLERİ
dc.titleUpper bounding estimation for robustness to the parameter uncertainty in trajectory control of robot arm
dc.typeMakale
dc.relation.journalROBOTICS AND AUTONOMOUS SYSTEMS
dc.contributor.departmentErciyes Üniversitesi , ,
dc.identifier.volume45
dc.identifier.issue2
dc.identifier.startpage99
dc.identifier.endpage110
dc.contributor.firstauthorID43077


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