Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/11233
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dc.contributor.authorYılmaz, Bayram Melih-
dc.contributor.authorTatlıcıoğlu, Enver-
dc.contributor.authorSavran, Aydoğan-
dc.contributor.authorAlcı, Musa-
dc.date.accessioned2021-11-06T09:23:35Z-
dc.date.available2021-11-06T09:23:35Z-
dc.date.issued2021-
dc.identifier.issn0278-0046-
dc.identifier.urihttp://doi.org/10.1109/TIE.2021.3063970-
dc.identifier.urihttps://hdl.handle.net/11147/11233-
dc.description.abstractEnd effector tracking control of robot manipulators subject to dynamical uncertainties is the main objective of this work. Direct task space control that aims minimizing the end effector tracking error directly is preferred. In the open loop error system, the vector that depends on uncertain dynamical terms is modeled via a fuzzy logic network and a self-adjusting adaptive fuzzy logic component is designed as part of the nonlinear proportional derivative based control input torque. The stability of the closed loop system is investigated via Lyapunov based arguments and practical tracking is proven. The viability of the proposed control strategy is shown with experimental results. Extensions to uncertain Jacobian case and kinematically redundant robots are also presented. IEEEen_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartofIEEE Transactions on Industrial Electronicsen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectAdaptive fuzzy logicen_US
dc.subjectFuzzy approximationen_US
dc.subjectLyapunov methodsen_US
dc.subjectRobot manipulatorsen_US
dc.subjectTask space controlen_US
dc.subjectUniversal fuzzy controlleren_US
dc.titleSelf-adjusting fuzzy logic based control of robot manipulators in task spaceen_US
dc.typeArticleen_US
dc.departmentİzmir Institute of Technology. Electrical and Electronics Engineeringen_US
dc.identifier.wosWOS:000712582800051en_US
dc.identifier.scopus2-s2.0-85102632064en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1109/TIE.2021.3063970-
dc.authorscopusid57193651852-
dc.authorscopusid14034778100-
dc.authorscopusid13608833200-
dc.authorscopusid55899323700-
dc.identifier.scopusqualityQ1-
item.grantfulltextopen-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
item.openairetypeArticle-
item.languageiso639-1en-
item.fulltextWith Fulltext-
crisitem.author.dept03.05. Department of Electrical and Electronics Engineering-
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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