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A novel adaptive controller for two-degree of freedom polar robot with unknown perturbations

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dc.contributor.author Faieghi, Mohammad Reza
dc.contributor.author Delavari, Hadi
dc.contributor.author Baleanu, Dumitru
dc.date.accessioned 2017-02-21T11:57:25Z
dc.date.available 2017-02-21T11:57:25Z
dc.date.issued 2012-02
dc.identifier.citation Faieghi, M.R., Delavari, H., Baleanu, D. (2012). A novel adaptive controller for two-degree of freedom polar robot with unknown perturbations. Communications In Nonlinear Science And Numerical Simulation, 17(2), 1021-1030. http://dx.doi.org/10.1016/j.cnsns.2011.03.043 tr_TR
dc.identifier.issn 1007-5704
dc.identifier.uri http://hdl.handle.net/20.500.12416/1290
dc.description.abstract In industrial applications, the performance of robot manipulators is always affected due to the presence of uncertainties and disturbances. This paper proposes a novel adaptive control scheme for robust control of robotic manipulators perturbed by unknown uncertainties and disturbances. First, an active sliding mode controller is designed and a sufficient condition is obtained guarantying reachability of the states to hit the sliding surface in finite time. Then, based on a Lyapunov function candidate an adaptive switching gain is derived which make the controller capable to bring the tracking error to zero without any disturbance exerted upon the stability. By virtue of this controller it can be shown that the controller can track the desired trajectories even in the presence of unknown perturbations. For the problem of determining the control parameters Particle Swarm Optimization (PSO) algorithm has been employed. Our theoretic achievements are verified by numerical simulations. tr_TR
dc.language.iso eng tr_TR
dc.publisher Elsevier Science Bv tr_TR
dc.relation.isversionof 10.1016/j.cnsns.2011.03.043 tr_TR
dc.rights info:eu-repo/semantics/closedAccess
dc.subject Active Sliding Mode Control (ASMC) tr_TR
dc.subject Robotic Manipulators tr_TR
dc.subject Lyapunov Stability Theorem tr_TR
dc.subject Adaptation Law tr_TR
dc.subject Particle Swarm Optimization (PSO) tr_TR
dc.title A novel adaptive controller for two-degree of freedom polar robot with unknown perturbations tr_TR
dc.type article tr_TR
dc.relation.journal Communications In Nonlinear Science And Numerical Simulation tr_TR
dc.identifier.volume 17 tr_TR
dc.identifier.issue 2 tr_TR
dc.identifier.startpage 1021 tr_TR
dc.identifier.endpage 1030 tr_TR
dc.contributor.department Çankaya Üniversitesi, Fen Edebiyat Fakültesi, Matematik Bilgisayar Bölümü tr_TR


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