Show simple item record

dc.contributor.authorBurkan, Recep
dc.date.accessioned2021-03-03T16:49:00Z
dc.date.available2021-03-03T16:49:00Z
dc.date.issued2012
dc.identifier.citationBurkan R., "Design parameters and uncertainty bound estimation functions for adaptive-robust control of robot manipulators", TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, cilt.20, sa.1, ss.169-186, 2012
dc.identifier.issn1300-0632
dc.identifier.otherav_465fd106-d188-4d75-8116-28802053d94d
dc.identifier.othervv_1032021
dc.identifier.urihttp://hdl.handle.net/20.500.12627/50906
dc.identifier.urihttps://doi.org/10.3906/elk-1007-628
dc.description.abstractIn this paper, a parameter and uncertainty bound estimation functions for adaptive-robust control of robot manipulators are developed. A Lyapunov function is defined and parameters and uncertainty bound estimation functions are developed based on the Lyapunov function. Thus, stability of an uncertain system is guaranteed and uniform boundedness of the tracking error is achieved. As distinct from previous parameter and bound estimation laws, the parameters and uncertainty bounds are updated as a function of a combination of trigonometric function depending on robot parameters and tracking error. Based on the same Lyapunov function, a robust control law is also defined and the stability of the uncertain system is proved under the same set of conditions. Simulation results are given to illustrate the tracking performance of the proposed adaptive-robust controller.
dc.language.isoeng
dc.subjectAlgoritmalar
dc.subjectMühendislik ve Teknoloji
dc.subjectBilgi Sistemleri, Haberleşme ve Kontrol Mühendisliği
dc.subjectBilgisayar Bilimleri
dc.subjectSinyal İşleme
dc.subjectMühendislik
dc.subjectMÜHENDİSLİK, ELEKTRİK VE ELEKTRONİK
dc.subjectMühendislik, Bilişim ve Teknoloji (ENG)
dc.subjectBilgisayar Bilimi
dc.subjectBİLGİSAYAR BİLİMİ, YAPAY ZEKA
dc.titleDesign parameters and uncertainty bound estimation functions for adaptive-robust control of robot manipulators
dc.typeMakale
dc.relation.journalTURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
dc.contributor.departmentİstanbul Üniversitesi , Mühendsislik Fakültesi , Makina Mühendisliği Bölümü
dc.identifier.volume20
dc.identifier.issue1
dc.identifier.startpage169
dc.identifier.endpage186
dc.contributor.firstauthorID43082


Files in this item

FilesSizeFormatView

There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record