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Optimal nonlinear control of two-link flexible arm with adaptive internal model

dc.contributor.authorDoğan, Mustafaen_US
dc.contributor.authorİstefanopulos, Yorgoen_US
dc.date.accessioned2019-08-31T12:10:23Z
dc.date.accessioned2019-08-05T16:05:04Z
dc.date.available2019-08-31T12:10:23Z
dc.date.available2019-08-05T16:05:04Z
dc.date.issued2005
dc.identifier.citationDoğan, M. & Istefanopulos, Y. (2005). Optimal nonlinear control of two-link flexible arm with adaptive internal model. Paper presented at the 771-776. doi:10.1109/CDC.2005.1582250en_US
dc.identifier.isbn0780395689
dc.identifier.isbn9780780395688
dc.identifier.issn0191-2216en_US
dc.identifier.issn0743-1546en_US
dc.identifier.urihttps://hdl.handle.net/11729/2024
dc.identifier.urihttps://dx.doi.org/10.1109/CDC.2005.1582250
dc.description.abstractThe control of highly nonlinear multi-link flexible arms is subject to uncertainties caused by backlash, payload changes and external disturbances.Therefore, adaptive and robust control of multi-link flexible arms is a challenging problem.In this paper, the internal model approach is adaptively tuned up for unknown disturbances, parallel with a robust stabilizer. The stabilizer part of the controller is optimized with a new evolutionary algorithm.en_US
dc.language.isoenen_US
dc.relation.ispartofProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05en_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectOptimal controlen_US
dc.subjectProgrammable controlen_US
dc.subjectAdaptive controlen_US
dc.subjectFeedbacken_US
dc.subjectArmen_US
dc.subjectRobust controlen_US
dc.subjectFinite element methodsen_US
dc.subjectFrictionen_US
dc.subjectDisplacement controlen_US
dc.subjectTorque controlen_US
dc.subjectBacklashen_US
dc.subjectExternal disturbancesen_US
dc.subjectFlexible armsen_US
dc.subjectOptimal nonlinear controlen_US
dc.subjectAdaptive control systemsen_US
dc.subjectEvolutionary algorithmsen_US
dc.subjectProblem solvingen_US
dc.subjectRobustness (control systems)en_US
dc.subjectUncertain systemsen_US
dc.subjectNonlinear control systemsen_US
dc.titleOptimal nonlinear control of two-link flexible arm with adaptive internal modelen_US
dc.typeConference Objecten_US
dc.description.versionPublisher's Versionen_US
dc.departmentIşık Üniversitesi, Mühendislik Fakültesi, Elektrik-Elektronik Mühendisliği Bölümüen_US
dc.departmentIşık University, Faculty of Engineering, Department of Electrical-Electronics Engineeringen_US
dc.identifier.volume2005
dc.identifier.startpage771
dc.identifier.endpage776
dc.peerreviewedYesen_US
dc.publicationstatusPublisheden_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.institutionauthorİstefanopulos, Yorgoen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.indekslendigikaynakConference Proceedings Citation Index – Science (CPCI-S)en_US
dc.identifier.wosqualityN/Aen_US
dc.identifier.wosWOS:000240653700130
dc.identifier.wosWOS:000240653700130en_US
dc.identifier.scopus2-s2.0-33847303591en_US
dc.identifier.doi10.1109/CDC.2005.1582250
dc.identifier.scopusqualityN/Aen_US


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