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dc.contributor.authorSarıyıldız, E.
dc.contributor.authorSekiguchi, H.
dc.contributor.authorNozaki, T.
dc.contributor.authorUğurlu, Regaip Barkan
dc.contributor.authorOhnishi, K.
dc.date.accessioned2019-03-29T08:47:09Z
dc.date.available2019-03-29T08:47:09Z
dc.date.issued2018-10
dc.identifier.issn1083-4435en_US
dc.identifier.urihttp://hdl.handle.net/10679/6247
dc.identifier.urihttps://ieeexplore.ieee.org/document/8409314
dc.description.abstractThis paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using disturbance observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the design of a DOb, then the position error asymptotically goes to zero in regulation control and is uniformly ultimately bounded in trajectory-tracking control. As the bandwidth of a DOb and the nominal inertia matrix are increased, the bound of error shrinks, i.e., the robust stability and performance of the position control system are improved. However, neither the bandwidth of the DOb nor the nominal inertia matrix can be freely increased due to practical design constraints, e.g., the robust position controller becomes more noise-sensitive when they are increased. The proposed stability analysis provides insights into the dynamic behavior of DOb-based robust motion control systems. It is theoretically and experimentally proved that non-diagonal elements of the nominal inertia matrix are useful in improving the stability and in adjusting the tradeoff between robustness and noise sensitivity. The validity of the proposal is verified by simulation and experimental results.en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.ispartofIEEE/ASME Transactions on Mechatronics
dc.rightsrestrictedAccess
dc.titleA stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observeren_US
dc.typeArticleen_US
dc.peerreviewedyesen_US
dc.publicationstatusPublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan
dc.contributor.ozuauthorUğurlu, Regaip Barkan
dc.identifier.volume23en_US
dc.identifier.issue5en_US
dc.identifier.startpage2369en_US
dc.identifier.endpage2378en_US
dc.identifier.wosWOS:000447942600033
dc.identifier.doi10.1109/TMECH.2018.2854844en_US
dc.subject.keywordsAcceleration-based control (ABC)en_US
dc.subject.keywordsDisturbance observer (DOb)en_US
dc.subject.keywordsNonlinear stability analysisen_US
dc.subject.keywordsPassivity-based controlen_US
dc.subject.keywordsRobust position controlen_US
dc.identifier.scopusSCOPUS:2-s2.0-85049800333
dc.contributor.authorMale1
dc.relation.publicationcategoryArticle - International Refereed Journal - Institutional Academic Staff


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