Robust Prescribed Time Control of Euler–Lagrange Systems

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dc.authoridZergeroglu, Erkan/0000-0002-1211-0448
dc.authoridselim, erman/0000-0003-4479-0406
dc.authoridTatlicioglu, Enver/0000-0001-5623-9975
dc.contributor.authorObuz, Serhat
dc.contributor.authorSelim, Erman
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorZergeroglu, Erkan
dc.date.accessioned2025-03-17T12:25:38Z
dc.date.available2025-03-17T12:25:38Z
dc.date.issued2025
dc.departmentTarsus Üniversitesi
dc.description.abstractThis article aims to develop a robust prescribed time controller for precise trajectory tracking for uncertain Euler-Lagrange systems with unknown time-varying disturbances without prior knowledge of their upper bounds. The control strategy involves utilizing a scaled transformation function to map the standard error system to a scaled error system. The presented controller is developed based on the scaled error system, incorporating state-dependent control gains and yielding a model-free controller structure. Distinguishing from previous methods, the designed controller takes a different approach by avoiding the direct multiplication of feedback terms with the estimated inertia matrix. The developed strategy mitigates the adverse effects of mismatches between the actual and estimated inertia matrices. A novel Lyapunov-based stability analysis is employed to establish fixed-time input-to-state stability within the prescribed time and to ensure the convergence of error signals to the origin. Experimental validation on a three-degree-of-freedom planar robot arm confirms the effectiveness of the proposed controller.
dc.description.sponsorshipScientific and Technological Research Council of Turkiye (TUBITAK) [121E383]
dc.description.sponsorshipThis work was supported by the Scientific and Technological Research Council of Turkiye (TUBITAK) under Grant 121E383.
dc.identifier.doi10.1109/TIE.2024.3417995
dc.identifier.endpage1701
dc.identifier.issn0278-0046
dc.identifier.issn1557-9948
dc.identifier.issue2
dc.identifier.scopus2-s2.0-85208555190
dc.identifier.scopusqualityQ1
dc.identifier.startpage1694
dc.identifier.urihttps://doi.org/10.1109/TIE.2024.3417995
dc.identifier.urihttps://hdl.handle.net/20.500.13099/1792
dc.identifier.volume72
dc.identifier.wosWOS:001273006300001
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherIeee-Inst Electrical Electronics Engineers Inc
dc.relation.ispartofIeee Transactions On Industrial Electronics
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_WOS_20250316
dc.subjectVectors
dc.subjectNonlinear systems
dc.subjectControl design
dc.subjectUpper bound
dc.subjectManipulator dynamics
dc.subjectUncertainty
dc.subjectTransmission line matrix methods
dc.subjectLyapunov methods
dc.subjectprescribed time control
dc.subjectrobot manipulators
dc.subjectrobust control
dc.titleRobust Prescribed Time Control of Euler–Lagrange Systems
dc.typeArticle

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