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

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul University

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

1 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
ISBN (Elektronik)	9781538641842
DOI'lar	https://doi.org/10.1109/ISMSIT.2018.8567316
Yayın durumu	Yayınlandı - 6 Ara 2018
Etkinlik	2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2018 - Kizilcahamam, Ankara, Türkiye Süre: 19 Eki 2018 → 21 Eki 2018

Yayın serisi

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

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2018
Ülke/Bölge	Türkiye
Şehir	Kizilcahamam, Ankara
Periyot	19/10/18 → 21/10/18

Bibliyografik not

Publisher Copyright:
© 2018 IEEE.

Belgeye Erişim

10.1109/ISMSIT.2018.8567316

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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 Makale 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).

@inproceedings{75199f0dd6d44edcb65ee2d55434892d,

title = "Nonlinear Discrete-Time Disturbance Attenuation for Robotic Manipulators with Immersion and Invariance Approach",

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.",

keywords = "Discrete-time control, Disturbance attenuation, Immersion and Invariance, Nonlinear systems",

author = "Fatih Adiguzel and Yaprak Yalcin",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2018 ; Conference date: 19-10-2018 Through 21-10-2018",

year = "2018",

month = dec,

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doi = "10.1109/ISMSIT.2018.8567316",

language = "English",

series = "ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings",

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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, Türkiye, 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).

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

TY - GEN

T1 - Nonlinear Discrete-Time Disturbance Attenuation for Robotic Manipulators with Immersion and Invariance Approach

AU - Adiguzel, Fatih

AU - Yalcin, Yaprak

PY - 2018/12/6

Y1 - 2018/12/6

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

UR - https://www.scopus.com/pages/publications/85060795545

U2 - 10.1109/ISMSIT.2018.8567316

DO - 10.1109/ISMSIT.2018.8567316

M3 - Conference contribution

AN - SCOPUS:85060795545

T3 - ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings

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

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2018

Y2 - 19 October 2018 through 21 October 2018

ER -

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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