A novel variable structure based adaptive control with disturbance estimation

Akin Delibasi, Ibrahim B. Kucukdemiral, Galip Cansever

Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

2 Citations (Scopus)


A novel, improved adaptive control methodology equipped with variable structure controller which utilizes the disturbance estimate is proposed for the control of robot manipulators. The main property of the method is that, it does not requires for any information about the disturbances that act on the system such as bounds or limits. On the other hand, the proposed control method eliminates the drawbacks of the classical adaptive controllers such as poor transient responses and poor disturbance rejection capabilities by online disturbance estimation subsystem. Simulation results on an anthropomorphic robot manipulator which is assumed to have nine unknown parameters demonstrate that, the proposed control system can achieve favorable tracking and high disturbance rejection performance when compared with its counterparts.

Original languageEnglish
Title of host publicationProceedings of the 2006 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)1-4244-0210-7
ISBN (Print)1424402107, 9781424402106
Publication statusPublished - 24 Jul 2006
Externally publishedYes
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: 14 Jun 200616 Jun 2006

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2006 American Control Conference
Country/TerritoryUnited States
CityMinneapolis, MN

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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