Özet:
This dissertation is devoted to offer a comprehensive control structure for tracking
synchronization of Euler-Lagrange systems. For this purpose, three different
output-feedback control mechanisms are developed for uncertain systems. Assuming
that only position measurement is available, a linear-filter is suggested to obtain a
surrogate signal, instead of actual velocity errors. Linear-filter output signals and
the position errors are shared over a directed communication, in the presence of
variable time-delay. In the first part of the study, a Lyapunov-based stability analysis
using Lyapunov-Krasovskii functionals is performed to show that designed adaptive
output-feedback controller yields a semi-global asymptotic convergence of error
signals to zero. In the second part, it is proven that suggested robust output-feedback
controller ensures semi-global asymptotic convergence of error signals to an adjustable
hyperball around zero. The synchronization of kinematically redundant systems is
also considered. It is shown that the suggested output feedback controller provides
tracking synchronization on Cartesian space. The analysis results are supported by
presented simulation and experimental studies.
