Zobrazeno 1 - 10
of 108
pro vyhledávání: '"Erkan Zergeroglu"'
Publikováno v:
IET Control Theory & Applications, Vol 18, Iss 15, Pp 1958-1967 (2024)
Abstract This work tackles the tracking control problem of robotic manipulators where the robot dynamics contains uncertain parameters and joint velocity measurements are not available. Specifically when the robotic manipulator is required to perform
Externí odkaz:
https://doaj.org/article/297a395d46a444818f033f11945579a6
Publikováno v:
IET Control Theory & Applications, Vol 18, Iss 10, Pp 1328-1337 (2024)
Abstract Recent advances in concurrent learning based adaptive controllers have relaxed the persistency of excitation condition required to achieve exponential tracking and parameter estimation error convergence. This was made possible via the use of
Externí odkaz:
https://doaj.org/article/56be060342874c76aef891ea664d9604
Publikováno v:
Archives of Control Sciences, Vol vol. 31, Iss No 2, Pp 267-286 (2021)
In this paper, model reference output feedback tracking control of an aircraft subject to additive, uncertain, nonlinear disturbances is considered. In order to present the design steps in a clear fashion: first, the aircraft dynamics is temporarily
Externí odkaz:
https://doaj.org/article/d8a8af464250449180ee15a71eb3f9b5
Publikováno v:
IET Control Theory & Applications, Vol 18, Iss 15, Pp 1910-1921 (2024)
Abstract In this study, task space tracking control of robot manipulators driven by brushless DC (BLDC) motors is considered. Dynamics of actuators are taken into account and the entire electromechanical system (i.e. kinematic, dynamic, and electrica
Externí odkaz:
https://doaj.org/article/f11394b25dd7442f8c97ef2d155f35db
Publikováno v:
AIAA SCITECH 2023 Forum.
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::00e8db674e459658546963d0f4651a7a
https://doi.org/10.2514/6.2023-2504
https://doi.org/10.2514/6.2023-2504
Publikováno v:
Robotica. 40:279-293
This work presents the design and the corresponding stability analysis of a desired model-based, joint position constrained, controller formulation for robotic manipulators. Specifically, provided that the initial joint position tracking error signal
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c399fc7ba9ee52fcd468e28e9b344ef3
https://doi.org/10.1017/s0263574721000527
https://doi.org/10.1017/s0263574721000527
This work presents the design and the corresponding stability analysis of a model-based, joint position tracking error constrained, adaptive output feedback (OFB) controller for robot manipulators. Specifically, provided that the initial joint positi
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::330f30d77a4b39dcbc936880e593b327
https://hdl.handle.net/11454/77614
https://hdl.handle.net/11454/77614
This work concentrates on output feedback trajectory tracking control of marine vehicles with dynamical uncertainties. The system under consideration, due to the natural response of oceanic waves, is also subject to periodic external disturbances. Th
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1954f32e7439c63b1942146591eacb22
https://hdl.handle.net/11454/76072
https://hdl.handle.net/11454/76072
This work presents an alternative solution to the tracking control of dynamically positioned surface vessels having uncertainties associated with their dynamical model while using only vessel's position measurements. Specifically, a surrogate state f
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::7da06fd21595a8e6c5c40133c6356800
https://hdl.handle.net/11454/76785
https://hdl.handle.net/11454/76785
In this paper, we present an inverse optimal tracking controller for a class of Euler–-Lagrange systems having uncertainties in their dynamical terms under the restriction that only the output state ( i.e. position for robotic systems) is available
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ae2cd378dbf115a1ecde95ab538135fe
https://hdl.handle.net/11454/77729
https://hdl.handle.net/11454/77729