Optimal nonlinear controller design for flexible robot manipulators with adaptive internal model

Basit Öğe Kaydı
dc.authorid0000-0001-5215-8887
dc.contributor.authorDoğan, Mustafaen_US
dc.contributor.authorİstefanopulos, Yorgoen_US
dc.date.accessioned2015-01-15T23:00:49Z
dc.date.available2015-01-15T23:00:49Z
dc.date.issued2007-05
dc.departmentIşık Üniversitesi, Mühendislik Fakültesi, Elektrik-Elektronik Mühendisliği Bölümüen_US
dc.departmentIşık University, Faculty of Engineering, Department of Electrical-Electronics Engineeringen_US
dc.description.abstractDeveloping nonlinear adaptive and robust controllers for a two-link flexible robot arm is the main objective of this research. The dynamic state feedback controller is used to achieve robust regulation of the rigid modes as well as suppression of elastic vibrations. However, the control of highly nonlinear multi-link flexible arms is subject to uncertainties caused by backlash, payload changes and external disturbances. Therefore adaptive and robust control of multi-link flexible arms is a challenging problem. The internal model approach is adaptively tuned up for unknown disturbances, parallel with a robust stabiliser. The stabiliser part of the controller is optimised with a new evolutionary algorithm.en_US
dc.description.versionPublisher's Versionen_US
dc.identifier.citationDoğan, M. & İstefanopulos, Y. (2007). Optimal nonlinear controller design for flexible robot manipulators with adaptive internal model. IET Control Theory And Applications, 1(3), 770-778. doi:10.1049/iet-cta:20040272en_US
dc.identifier.doi10.1049/iet-cta:20050272
dc.identifier.endpage778
dc.identifier.issn1751-8644
dc.identifier.issn1751-8652
dc.identifier.issue3
dc.identifier.scopus2-s2.0-34248326423
dc.identifier.scopusqualityQ1
dc.identifier.startpage770
dc.identifier.urihttps://hdl.handle.net/11729/256
dc.identifier.urihttp://dx.doi.org/10.1049/iet-cta:20050272
dc.identifier.volume1
dc.identifier.wosWOS:000247229500028
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.indekslendigikaynakScience Citation Index Expanded (SCI-EXPANDED)en_US
dc.institutionauthorİstefanopulos, Yorgoen_US
dc.language.isoenen_US
dc.peerreviewedYesen_US
dc.publicationstatusPublisheden_US
dc.publisherINST Engineering Technology-IETen_US
dc.relation.ispartofIET Control Theory And Applicationsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectArmen_US
dc.subjectOutput regulationen_US
dc.subjectOptimizationen_US
dc.subjectAlgorithmsen_US
dc.subjectControl theoryen_US
dc.subjectRobot applicationsen_US
dc.subjectVibrations (mechanical)en_US
dc.subjectNonlinear controller designen_US
dc.subjectPayload changesen_US
dc.subjectRobot manipulatorsen_US
dc.subjectRobust controllersen_US
dc.subjectNonlinear control systemsen_US
dc.titleOptimal nonlinear controller design for flexible robot manipulators with adaptive internal modelen_US
dc.typeArticleen_US
dspace.entity.typePublication

Dosyalar

Orijinal paket
Listeleniyor 1 - 1 / 1
Küçük Resim Yok
İsim:
256.pdf
Boyut:
392.71 KB
Biçim:
Adobe Portable Document Format
Açıklama:
Publisher's Version
İndir

Koleksiyon

Makale Koleksiyonu | Elektrik-Elektronik Mühendisliği Bölümü
Scopus İndeksli Yayınlar Koleksiyonu
WoS İndeksli Yayınlar Koleksiyonu