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Title: Nonlinear adaptive partial state feedback trajectory tracking control of tendon driven robot manipulators
Authors: Okur, Beytullah
Zergeroğlu, Erkan
Tatlıcıoğlu, Enver
Aksoy, Orhan
Keywords: Tendons
Redundant manipulators
Trajectory tracking control
Parametric uncertainties
Nonlinear feedback
Issue Date: 2014
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Okur, B., Zergeroğlu, E., Tatlıcıoğlu, E., and Aksoy, O. (2014, October 8-10). Nonlinear adaptive partial state feedback trajectory tracking control of tendon driven robot manipulators. Paper presented at the 2014 IEEE Conference on Control Applications. doi:10.1109/CCA.2014.6981356
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. © 2014 IEEE.
Description: 2014 IEEE Conference on Control Applications, CCA 2014; Juan Les Antibes; France; 8 October 2014 through 10 October 2014
ISBN: 9781479974092
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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