TY  - JOUR
T1  - Robot kolları için doğrusal süzgeç tabanlı çıkış geri beslemeli kontrolör tasarımında uyarlamalı yöntem yaklaşımı
TT  - An adaptive method approach in designing a linear filter based output feedback controller for robot manipulators
AU  - Yılmaz, Bayram Melih
AU  - Tatlıcıoğlu, Enver
PY  - 2024
DA  - November
JF  - Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi
PB  - Pamukkale Üniversitesi
WT  - DergiPark
SN  - 2147-5881
SP  - 756
EP  - 762
VL  - 30
IS  - 6
LA  - tr
AB  - Bu çalışmada modeli belirsizlikler içeren, pozisyon ölçümleri mevcutolup, hız ölçümleri olmayan robot kolları için takip problemi elealınmıştır. Ölçül(e)meyen hız bilgisinin telafi edilebilmesi için pozisyonbilgisi tabanlı olarak süzgeçleme tekniği yaklaşımdanyararlanılmaktadır. Model belirsizlikleri için uyarlamalı sinirağlarından yararlanılarak kontrolörün hız ölçümlerine olanbağımlılığını ortadan kaldırmak için doğrusal süzgeç tabanlı birkontrolör tasarlanmıştır. Kapalı çevrim sistemin kararlılığı Lyapunovyöntemiyle garanti edilmiştir. Sunulan kontrolörün performansınıgöstermek için iki serbestlik dereceli robot kolu modeli kullanılaraksayısal benzetim sonuçları uyarlamalı bulanık mantık yöntemi ilekarşılaştırmalı olarak oluşturulmuştur.
KW  - Çıkış geri beslemeli kontrol
KW  - Süzgeç tabanlı
kontrol
KW  - Uyarlamalı sinir ağları
KW  - Uyarlamalı bulanık mantık
KW  - Lyapunov
yöntemleri
KW  - Robot kollar
N2  - This study addresses the tracking problem for robot arms withparametric uncertainties in the model, position measurementsavailable, and no velocity measurements. A filtering technique based onposition information is used to compensate for the unmeasured velocityinformation. A linear filter-based controller is designed to eliminate thecontroller's dependence on velocity measurements by utilizing adaptiveneural networks for model uncertainties. The stability of the closed-loopsystem is guaranteed by the Lyapunov method. To demonstrate theperformance of the proposed controller, numerical simulation resultsare generated using a two-degree-of-freedom robot arm model andcompared comparatively with adaptive fuzzy logic method.
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UR  - https://dergipark.org.tr/tr/pub/pajes/article/1591298
L1  - https://dergipark.org.tr/tr/download/article-file/4393638
ER  -