Nonlinear Discrete-Time Disturbance Attenuation for Robotic Manipulators with Immersion and Invariance Approach

Fatih Adiguzel; Yaprak Yalcin

doi:10.1109/ISMSIT.2018.8567316

Nonlinear Discrete-Time Disturbance Attenuation for Robotic Manipulators with Immersion and Invariance Approach

Fatih Adiguzel, Yaprak Yalcin

Department of Control and Automation Engineering

Istanbul University

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

1 Citation (Scopus)

Abstract

In this paper, attenuation of constant input disturbances in the control of robotic manipulators is considered in discrete-time setting. Firstly, a disturbance estimator design with Immersion and Invariance approach is presented for n-DOF mechanical systems that comprises n-DOF robotic manipulators. Then, a discrete-time backstepping controller established that uses the estimated disturbance information and locally stability using Lyapunov's stability theorem, in an arbitrarily large compact set, of closed loop system is shown. The method applied to 2-DOF robotic manipulator and tested by simulations.

Original language	English
Title of host publication	ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538641842
DOIs	https://doi.org/10.1109/ISMSIT.2018.8567316
Publication status	Published - 6 Dec 2018
Event	2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2018 - Kizilcahamam, Ankara, Turkey Duration: 19 Oct 2018 → 21 Oct 2018

Publication series

Name	ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings

Conference

Conference	2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2018
Country/Territory	Turkey
City	Kizilcahamam, Ankara
Period	19/10/18 → 21/10/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

Discrete-time control
Disturbance attenuation
Immersion and Invariance
Nonlinear systems

Access to Document

10.1109/ISMSIT.2018.8567316

Cite this

Adiguzel, F., & Yalcin, Y. (2018). Nonlinear Discrete-Time Disturbance Attenuation for Robotic Manipulators with Immersion and Invariance Approach. In ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings Article 8567316 (ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISMSIT.2018.8567316

Adiguzel, Fatih ; Yalcin, Yaprak. / Nonlinear Discrete-Time Disturbance Attenuation for Robotic Manipulators with Immersion and Invariance Approach. ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2018. (ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings).

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abstract = "In this paper, attenuation of constant input disturbances in the control of robotic manipulators is considered in discrete-time setting. Firstly, a disturbance estimator design with Immersion and Invariance approach is presented for n-DOF mechanical systems that comprises n-DOF robotic manipulators. Then, a discrete-time backstepping controller established that uses the estimated disturbance information and locally stability using Lyapunov's stability theorem, in an arbitrarily large compact set, of closed loop system is shown. The method applied to 2-DOF robotic manipulator and tested by simulations.",

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Adiguzel, F & Yalcin, Y 2018, Nonlinear Discrete-Time Disturbance Attenuation for Robotic Manipulators with Immersion and Invariance Approach. in ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings., 8567316, ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings, Institute of Electrical and Electronics Engineers Inc., 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2018, Kizilcahamam, Ankara, Turkey, 19/10/18. https://doi.org/10.1109/ISMSIT.2018.8567316

Nonlinear Discrete-Time Disturbance Attenuation for Robotic Manipulators with Immersion and Invariance Approach. / Adiguzel, Fatih; Yalcin, Yaprak.
ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2018. 8567316 (ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings).

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

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AU - Yalcin, Yaprak

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N2 - In this paper, attenuation of constant input disturbances in the control of robotic manipulators is considered in discrete-time setting. Firstly, a disturbance estimator design with Immersion and Invariance approach is presented for n-DOF mechanical systems that comprises n-DOF robotic manipulators. Then, a discrete-time backstepping controller established that uses the estimated disturbance information and locally stability using Lyapunov's stability theorem, in an arbitrarily large compact set, of closed loop system is shown. The method applied to 2-DOF robotic manipulator and tested by simulations.

AB - In this paper, attenuation of constant input disturbances in the control of robotic manipulators is considered in discrete-time setting. Firstly, a disturbance estimator design with Immersion and Invariance approach is presented for n-DOF mechanical systems that comprises n-DOF robotic manipulators. Then, a discrete-time backstepping controller established that uses the estimated disturbance information and locally stability using Lyapunov's stability theorem, in an arbitrarily large compact set, of closed loop system is shown. The method applied to 2-DOF robotic manipulator and tested by simulations.

KW - Discrete-time control

KW - Disturbance attenuation

KW - Immersion and Invariance

KW - Nonlinear systems

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M3 - Conference contribution

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BT - ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

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Adiguzel F, Yalcin Y. Nonlinear Discrete-Time Disturbance Attenuation for Robotic Manipulators with Immersion and Invariance Approach. In ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2018. 8567316. (ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings). doi: 10.1109/ISMSIT.2018.8567316

Nonlinear Discrete-Time Disturbance Attenuation for Robotic Manipulators with Immersion and Invariance Approach

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