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Output feedback synchronization of multiple robot systems under parametric uncertainties

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dc.contributor.authorCicek, Elif
dc.contributor.authorDasdemir, Janset
dc.date.accessioned2026-06-27T14:01:31Z
dc.date.issued2017
dc.description.abstractIn this paper, we propose a novel cooperative control scheme that solves the position synchronization problem of multiple robot manipulators, under parametric uncertainties, in the case when only position measurements are available. The synchronization controller, adaptation law and the filter that generates a velocity-related signal from the position tracking error are designed via a Lyapunov-based stability analysis. It is shown that the proposed method guarantees semi-global asymptotic convergence of the position synchronization error. The simulation results on five robot manipulators ensure the feasibility of the filter/controller mechanism.en
dc.description.urihttps://doi.org/10.1177/0142331216649025
dc.identifier.doi10.1177/0142331216649025
dc.identifier.eissn1477-0369
dc.identifier.endpage287
dc.identifier.issn0142-3312
dc.identifier.issue3
dc.identifier.startpage277
dc.identifier.urihttps://hdl.handle.net/20.500.14981/56455
dc.identifier.volume39
dc.identifier.wos000397470500004
dc.language.isoeng
dc.publisherSAGE PUBLICATIONS LTD
dc.relation.conference17th Meeting of the Turkish-National-Committee-of-Automatic-Control (TOK)
dc.relation.ispartofTRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
dc.subjectCooperative control
dc.subjectsynchronization
dc.subjectadaptive control
dc.subjectoutput feedback control
dc.subjectrobot manipulator
dc.subjectAutomation & Control Systems
dc.subjectInstruments & Instrumentation
dc.titleOutput feedback synchronization of multiple robot systems under parametric uncertainties
dc.typeArticle; Proceedings Paper
dspace.entity.typePublication
local.import.sourceWOS

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