A novel variable structure based adaptive control with disturbance estimation

Akin Delibasi; Ibrahim B. Kucukdemiral; Galip Cansever

doi:10.1109/acc.2006.1657477

A novel variable structure based adaptive control with disturbance estimation

Akin Delibasi, Ibrahim B. Kucukdemiral, Galip Cansever

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

2 Citations (Scopus)

Abstract

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 language	English
Title of host publication	Proceedings of the 2006 American Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4782-4787
Number of pages	6
ISBN (Electronic)	1-4244-0210-7
ISBN (Print)	1424402107, 9781424402106
DOIs	https://doi.org/10.1109/acc.2006.1657477
Publication status	Published - 24 Jul 2006
Externally published	Yes
Event	2006 American Control Conference - Minneapolis, MN, United States Duration: 14 Jun 2006 → 16 Jun 2006

Publication series

Name	Proceedings of the American Control Conference
Volume	2006
ISSN (Print)	0743-1619

Conference

Conference	2006 American Control Conference
Country/Territory	United States
City	Minneapolis, MN
Period	14/06/06 → 16/06/06

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/acc.2006.1657477

Cite this

Delibasi, A., Kucukdemiral, I. B., & Cansever, G. (2006). A novel variable structure based adaptive control with disturbance estimation. In Proceedings of the 2006 American Control Conference (pp. 4782-4787). [1657477] (Proceedings of the American Control Conference; Vol. 2006). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/acc.2006.1657477

A novel variable structure based adaptive control with disturbance estimation. / Delibasi, Akin; Kucukdemiral, Ibrahim B.; Cansever, Galip.

Proceedings of the 2006 American Control Conference. Institute of Electrical and Electronics Engineers Inc., 2006. p. 4782-4787 1657477 (Proceedings of the American Control Conference; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

Delibasi, A, Kucukdemiral, IB & Cansever, G 2006, A novel variable structure based adaptive control with disturbance estimation. in Proceedings of the 2006 American Control Conference., 1657477, Proceedings of the American Control Conference, vol. 2006, Institute of Electrical and Electronics Engineers Inc., pp. 4782-4787, 2006 American Control Conference, Minneapolis, MN, United States, 14/06/06. https://doi.org/10.1109/acc.2006.1657477

@inproceedings{162d456ab35c438983c443326677859a,

title = "A novel variable structure based adaptive control with disturbance estimation",

abstract = "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.",

author = "Akin Delibasi and Kucukdemiral, {Ibrahim B.} and Galip Cansever",

year = "2006",

month = jul,

day = "24",

doi = "10.1109/acc.2006.1657477",

language = "English",

isbn = "1424402107",

series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "4782--4787",

booktitle = "Proceedings of the 2006 American Control Conference",

address = "United States",

note = "2006 American Control Conference ; Conference date: 14-06-2006 Through 16-06-2006",

}

TY - GEN

T1 - A novel variable structure based adaptive control with disturbance estimation

AU - Delibasi, Akin

AU - Kucukdemiral, Ibrahim B.

AU - Cansever, Galip

PY - 2006/7/24

Y1 - 2006/7/24

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=34047195090&partnerID=8YFLogxK

U2 - 10.1109/acc.2006.1657477

DO - 10.1109/acc.2006.1657477

M3 - Conference proceeding

AN - SCOPUS:34047195090

SN - 1424402107

SN - 9781424402106

T3 - Proceedings of the American Control Conference

SP - 4782

EP - 4787

BT - Proceedings of the 2006 American Control Conference

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2006 American Control Conference

Y2 - 14 June 2006 through 16 June 2006

ER -

A novel variable structure based adaptive control with disturbance estimation

Abstract

Publication series

Conference

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this