Adaptive Cartesian space control of robotic manipulators: A concurrent learning based approach☆

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dc.authoridZergeroglu, Erkan/0000-0002-1211-0448
dc.contributor.authorObuz, Serhat
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorZergeroglu, Erkan
dc.date.accessioned2025-03-17T12:27:04Z
dc.date.available2025-03-17T12:27:04Z
dc.date.issued2024
dc.departmentTarsus Üniversitesi
dc.description.abstractThis work introduces a concurrent learning -based adaptive control design for end -effector tracking and the corresponding stability analysis for robotic manipulators. The presented controller is developed directly in Cartesian space, thereby removing the necessity for inverse kinematics calculations at the position level. The designed adaptive controller ensures global exponential tracking of the end -effector in Cartesian space. Moreover, the developed controller assures globally exponential convergence of uncertain dynamical parameters to their actual values without demanding persistence excitation conditions via a combination of a standard gradient -based adaptation with a novel integral concurrent learning component. The developed integral concurrent learning part operates both real-time output data and the most informative historical data gathered by employing the singular -value maximization algorithm (SVMA) to reduce the size of memory allocation. Lyapunov-based arguments are applied to ensure the exponential stability of the closed -loop system. Numerical studies are performed to depict the feasibility and performance of the proposed design.
dc.identifier.doi10.1016/j.jfranklin.2024.106701
dc.identifier.issn0016-0032
dc.identifier.issn1879-2693
dc.identifier.issue6
dc.identifier.scopus2-s2.0-85187962507
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://doi.org/10.1016/j.jfranklin.2024.106701
dc.identifier.urihttps://hdl.handle.net/20.500.13099/2051
dc.identifier.volume361
dc.identifier.wosWOS:001220729600001
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherPergamon-Elsevier Science Ltd
dc.relation.ispartofJournal of The Franklin Institute-Engineering and Applied Mathematics
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_WOS_20250316
dc.subjectConcurrent learning
dc.subjectDirect Cartesian space control
dc.subjectAdaptive control
dc.titleAdaptive Cartesian space control of robotic manipulators: A concurrent learning based approach☆
dc.typeArticle

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