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A model independent observer based output feedback tracking controller for robotic manipulators with dynamical uncertainties

Published online by Cambridge University Press:  05 October 2015

Erkan Zergeroglu ,
Enver Tatlicioglu  and
Egemen Kaleli
Erkan Zergeroglu*
Affiliation:
Department of Computer Engineering, Gebze Institute of Technology, 41400, Gebze, Kocaeli, Turkey. E-mail: ekaleli@bilmuh.gyte.edu.tr
Enver Tatlicioglu
Affiliation:
Department of Electrical & Electronics Engineering, Izmir Institute of Technology, Gulbahce Koyu, Urla, Izmir, 35430Turkey. E-mail: envertatlicioglu@iyte.edu.tr
Egemen Kaleli
Affiliation:
Department of Computer Engineering, Gebze Institute of Technology, 41400, Gebze, Kocaeli, Turkey. E-mail: ekaleli@bilmuh.gyte.edu.tr
*
*Corresponding author. E-mail: ezerger@bilmuh.gyte.edu.tr
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Summary

In this work, we propose the development and the corresponding stability analysis of a novel, observer-based output feedback (OFB), tracking controller for rigid-link robot manipulators. Specifically, a model-independent variable-structure-like observer in conjunction with a desired dynamic compensation technique have been utilized to remove the link velocity dependency of the controller formulation. Asymptotic stability of the observer--controller couple is then guaranteed via Lyapunov-based arguments. An adaptive controller extension is also presented to illustrate the expansiveness of the proposed scheme. Experimental studies performed on a two-link planar robot with dynamical uncertainties are included in order to demonstrate the performance and feasibility of the proposed method.

Keywords

Output feedback ControlObserver Based DesignAdaptive Systems
Type
Articles
Information
Robotica , Volume 35 , Issue 4 , April 2017 , pp. 729 - 743
Copyright
Copyright © Cambridge University Press 2015 

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