On Adaptive Output Feedback Controf Robotic Manipulators with Online Disturbance Estimation


Aksoy O., Zergeroglu E., Tatlicioglu E.

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, cilt.85, ss.633-649, 2017 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 85
  • Basım Tarihi: 2017
  • Doi Numarası: 10.1007/s10846-016-0405-5
  • Dergi Adı: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
  • Sayfa Sayıları: ss.633-649

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.