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Author Okur, B. ♦ Zergeroglu, E. ♦ Tatlicioglu, E. ♦ Aksoy, O.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2014
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Tendons ♦ Actuators ♦ Stability analysis ♦ Vectors ♦ Manipulators ♦ Velocity measurement
Abstract In this work, the link position tracking control problem of a tendon driven robotic system is studied in the presence of parametric uncertainty and lack of velocity measurements both of links and actuators. A partial state feedback nonlinear adaptive controller is proposed to deal with the unmeasurable states and uncertain dynamical system parameters. A backstepping approach has been utilized to develop the control strategy. The proposed nonlinear tracking controller utilizes online update laws to adapt for parametric uncertainties, and requires only link and actuator position measurements and tendon tension measurements. Need for link velocity measurements are eliminated by using a nonlinear filter, and a set of linear filters is designed to estimate the actuator velocities. Lyapunov based arguments have been applied to prove the stability of the closed-loop system and semi-global asymptotic link position tracking is achieved.
Description Author affiliation: Dept. of Electr. & Electron. Eng., Izmir Inst. of Technol., Izmir, Turkey (Tatlicioglu, E.) || Dept. of Comput. Eng., Gebze Inst. of Technol., Gebze, Turkey (Zergeroglu, E.; Aksoy, O.) || Dept. of Mechatron. Eng., Yildiz Tech. Univ., Istanbul, Turkey (Okur, B.)
ISBN 9781479974092
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2014-10-08
Publisher Place France
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 236.84 kB
Page Count 6
Starting Page 228
Ending Page 233


Source: IEEE Xplore Digital Library