On Adaptive Output Feedback Controf Robotic Manipulators with Online Disturbance Estimation
Makaleler > Tam Makale · 2016
Yazarlar: Orhan Aksoy, Erkan Zergeroglu, Enver TATLICIOĞLU
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, SCI Expanded İndekslerine Giren Dergi, Uluslararası, 2016, cilt 85, ss 633-649
DOI: 10.1007/s10846-016-0405-5
Özet
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.