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https://hdl.handle.net/20.500.11851/736
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DC Field | Value | Language |
---|---|---|
dc.contributor.author | Önkol, Mert | - |
dc.contributor.author | Kasnakoğlu, Coşku | - |
dc.date.accessioned | 2019-03-18T08:13:34Z | |
dc.date.available | 2019-03-18T08:13:34Z | |
dc.date.issued | 2018-03 | |
dc.identifier.citation | Önkol, M., & Kasnakoğlu, C. (2018). Adaptive model predictive control of a two-wheeled robot manipulator with varying mass. Measurement and Control, 51(1-2), 38-56. | tr |
dc.identifier.issn | 0020-2940 | |
dc.identifier.uri | https://journals.sagepub.com/doi/10.1177/0020294018758527 | - |
dc.identifier.uri | https://hdl.handle.net/20.500.11851/736 | - |
dc.description.abstract | This paper presents the adaptive model predictive control approach for a two-wheeled robot manipulator with varying mass. The mass variation corresponds to the robot picking and placing objects or loads from one place to another. A linear parameter varying model of the system is derived consisting of local linear models of the system at different values of the varying parameter. An adaptive model predictive control controller is designed to control the fast-varying center of gravity angle in the inner loop. The reference for the inner loop is generated by a slower outer loop controlling the linear position using a linear quadratic Gaussian regulator. This adaptive model predictive control/linear quadratic Gaussian control system is simulated on the nonlinear model of the robot, and the closed-loop performance of the proposed scheme is compared with a system having inner/outer loop controllers as proportional integral derivative/proportional integral derivative, feedback linearization/linear quadratic Gaussian, and linear quadratic Gaussian/linear quadratic Gaussian. It is seen that adaptive model predictive control shows mostly superior and otherwise very good performance when compared to these benchmarks in terms of reference tracking and robustness to mass parameter variations. | en_US |
dc.language.iso | en | en_US |
dc.publisher | SAGE Publications Ltd | en_US |
dc.relation.ispartof | Measurement and Control | en_US |
dc.rights | info:eu-repo/semantics/openAccess | en_US |
dc.subject | Wheeled inverted pendulum | en_US |
dc.subject | Fixed-wing aircraft | en_US |
dc.subject | Mobile robot | en_US |
dc.subject | Feedback linearization | en_US |
dc.subject | Output-feedback | en_US |
dc.subject | Design | en_US |
dc.subject | Systems | en_US |
dc.subject | Dynamics | en_US |
dc.title | Adaptive Model Predictive Control of a Two-Wheeled Robot Manipulator With Varying Mass | en_US |
dc.type | Article | en_US |
dc.department | Faculties, Faculty of Engineering, Department of Electrical and Electronics Engineering | en_US |
dc.department | Fakülteler, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümü | tr_TR |
dc.identifier.volume | 51 | tr |
dc.identifier.issue | 1-2 | tr |
dc.identifier.startpage | 38 | tr |
dc.identifier.endpage | 56 | tr |
dc.authorid | 0000-0002-9928-727X | - |
dc.identifier.wos | WOS:000431355900005 | en_US |
dc.identifier.scopus | 2-s2.0-85044026875 | en_US |
dc.institutionauthor | Kasnakoğlu, Coşku | - |
dc.identifier.doi | 10.1177/0020294018758527 | - |
dc.authorscopusid | 24802064500 | - |
dc.relation.publicationcategory | Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı | en_US |
dc.identifier.scopusquality | Q2 | - |
item.openairetype | Article | - |
item.languageiso639-1 | en | - |
item.grantfulltext | open | - |
item.fulltext | With Fulltext | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
item.cerifentitytype | Publications | - |
crisitem.author.dept | 02.5. Department of Electrical and Electronics Engineering | - |
Appears in Collections: | Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
Files in This Item:
File | Description | Size | Format | |
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ADAPTİVE-KASNAKOĞLU.pdf | 2.81 MB | Adobe PDF | View/Open |
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