ADAPTIVE SELF-TUNING CONTROL OF ROBOT MANIPULATORS WITH PERIODIC DISTURBANCE ESTIMATION

DELİBAŞI, Akın; Zergeroglu, E.; Kucukdemiral, I.; Cansever, Galip

doi:10.2316/journal.206.2010.1.206-3298

ADAPTIVE SELF-TUNING CONTROL OF ROBOT MANIPULATORS WITH PERIODIC DISTURBANCE ESTIMATION

Atıf İçin Kopyala

DELİBAŞI A., Zergeroglu E., Kucukdemiral I. B., Cansever G.

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, cilt.25, sa.1, ss.48-56, 2010 (SCI-Expanded)

Yayın Türü: Makale / Tam Makale
Cilt numarası: 25 Sayı: 1
Basım Tarihi: 2010
Doi Numarası: 10.2316/journal.206.2010.1.206-3298
Dergi Adı: INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
Sayfa Sayıları: ss.48-56
Yıldız Teknik Üniversitesi Adresli: Evet

Özet

This paper addresses the problem of position tracking control of robot manipulators in the presence of parametric uncertainty and additive periodic disturbances. Specifically, a self tuning, Lyapunov-based adaptive controller with desired dynamics compensation term and a disturbance estimator has been designed to ensure that the link position tracking error converges to zero asymptotically, despite the partially linearly parametrizabic robot dynamics. Extensive experimental results are provided to illustrate the viability and performance of the proposed controller.