dc.contributor.author | Uzmay, Ibrahim | |
dc.contributor.author | Burkan, Recep | |
dc.date.accessioned | 2021-03-06T08:23:38Z | |
dc.date.available | 2021-03-06T08:23:38Z | |
dc.date.issued | 2006 | |
dc.identifier.citation | Burkan R., Uzmay I., "Application of logarithmic-based parameter and upper bounding estimation rules to adaptive-robust control of robot manipulators", EUROPEAN JOURNAL OF CONTROL, cilt.12, ss.156-170, 2006 | |
dc.identifier.issn | 0947-3580 | |
dc.identifier.other | av_e0b14394-5f1f-4ad6-818e-137564cace67 | |
dc.identifier.other | vv_1032021 | |
dc.identifier.uri | http://hdl.handle.net/20.500.12627/147964 | |
dc.identifier.uri | https://doi.org/10.3166/ejc.12.156-170 | |
dc.description.abstract | This paper presents a new adaptive-robust control law for robot manipulators with parametric uncertainty. The control law for n-link robot manipulators using the Lyapunov-based theory of guaranteed stability of uncertain system is derived by means of analytical approach. The proposed adaptive-robust control law includes an adaptive dynamic compensation, robust feedforward compensators with an adaptive upper bounding function and a PD feedforward part, and both system parameters and robust feedforward compensator are updated in time. As distinct from similar studies, the manipulator parameters are updated with a logarithmic function depending on manipulator kinematics, inertia parameters and tracking error and on the other hand, robust compensator is updated as a function of uncertainty bound, robot kinematics and tracking error. The developed approach has the advantages of both adaptive and robust control laws, and besides it eliminates disadvantages of them. | |
dc.language.iso | eng | |
dc.subject | Mühendislik, Bilişim ve Teknoloji (ENG) | |
dc.subject | Kontrol ve Sistem Mühendisliği | |
dc.subject | OTOMASYON & KONTROL SİSTEMLERİ | |
dc.subject | Mühendislik | |
dc.subject | Bilgi Sistemleri, Haberleşme ve Kontrol Mühendisliği | |
dc.subject | Mühendislik ve Teknoloji | |
dc.title | Application of logarithmic-based parameter and upper bounding estimation rules to adaptive-robust control of robot manipulators | |
dc.type | Makale | |
dc.relation.journal | EUROPEAN JOURNAL OF CONTROL | |
dc.contributor.department | Erciyes Üniversitesi , , | |
dc.identifier.volume | 12 | |
dc.identifier.issue | 2 | |
dc.identifier.startpage | 156 | |
dc.identifier.endpage | 170 | |
dc.contributor.firstauthorID | 43086 | |