A model independent observer based output feedback tracking controller for robotic manipulators with dynamical uncertainties
Makaleler > Tam Makale · 2015
Yazarlar: Erkan Zergeroglu, Enver TATLICIOĞLU, Egemen Kaleli
ROBOTICA, SCI Expanded İndekslerine Giren Dergi, Uluslararası, 2015, cilt 35, ss 729-743
DOI: 10.1017/s026357471500079x
Özet
In this work, we propose the development and the corresponding stability analysis of a novel, observer-based output feedback (OFB), tracking controller for rigid-link robot manipulators. Specifically, a model-independent variable-structure-like observer in conjunction with a desired dynamic compensation technique have been utilized to remove the link velocity dependency of the controller formulation. Asymptotic stability of the observer-controller couple is then guaranteed via Lyapunov-based arguments. An adaptive controller extension is also presented to illustrate the expansiveness of the proposed scheme. Experimental studies performed on a two-link planar robot with dynamical uncertainties are included in order to demonstrate the performance and feasibility of the proposed method.