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On Adaptive Output Feedback Control Robotic Manipulators with Online Disturbance Estimation

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Abstract

The problem of disturbance estimation and compensation for adaptive output feedback type controllers are investigated. Specifically two adaptive output feedback controllers designed for robotic manipulators are extended to compensate external disturbances which are common in robotic applications with repetitive task. The uncertain disturbance term in the robot dynamics is modeled as a fixed term plus a combination of sinusoidal signals. The overall stability and convergence of the tracking error for both controllers is ensured via Lyapunov based analysis. Extensive simulation studies are presented to illustrate the feasibility of the proposed method.

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Authors and Affiliations

  1. HAVELSAN A.S., DSYSTM, Pendik, Istanbul, 34890, Turkey

    Orhan Aksoy

  2. Department of Computer Engineering, Gebze Technical University, 41400, Gebze, Kocaeli, Turkey

    Erkan Zergeroglu

  3. Department of Electrical & Electronics Engineering, Izmir Institute of Technology, Gulbahce Koyu, Urla, Izmir, 35430, Turkey

    Enver Tatlicioglu

Authors
  1. Orhan Aksoy
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  2. Erkan Zergeroglu
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  3. Enver Tatlicioglu
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Correspondence to Erkan Zergeroglu.

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Aksoy, O., Zergeroglu, E. & Tatlicioglu, E. On Adaptive Output Feedback Control Robotic Manipulators with Online Disturbance Estimation. J Intell Robot Syst 85, 633–649 (2017). https://doi.org/10.1007/s10846-016-0405-5

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  • DOI: https://doi.org/10.1007/s10846-016-0405-5

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