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dc.contributor.authorÖnkol, M.
dc.contributor.authorKasnakoğlu, Coşku
dc.date.accessioned2019-03-18T08:13:34Z
dc.date.available2019-03-18T08:13:34Z
dc.date.issued2018-03
dc.identifier.citationÖnkol, 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.issn0020-2940
dc.identifier.urihttps://journals.sagepub.com/doi/10.1177/0020294018758527
dc.identifier.urihttp://hdl.handle.net/20.500.11851/736
dc.description.abstractThis 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.isoengtr
dc.publisherSAGE Publications Ltdtr
dc.rightsinfo:eu-repo/semantics/openAccesstr
dc.subjectWheeled inverted pendulumen_US
dc.subjectFixed-wing aircraften_US
dc.subjectMobile roboten_US
dc.subjectFeedback linearizationen_US
dc.subjectOutput-feedbacken_US
dc.subjectDesignen_US
dc.subjectSystemsen_US
dc.subjectDynamicsen_US
dc.titleAdaptive Model Predictive Control of a Two-wheeled Robot Manipulator with Varying Masstr
dc.typearticletr
dc.relation.journalMeasurement and Controltr
dc.contributor.departmentTOBB ETU, Faculty of Engineering, Department of Electrical & Electronics Engineeringen_US
dc.identifier.volume51tr
dc.identifier.issue1-2tr
dc.identifier.startpage38tr
dc.identifier.endpage56tr
dc.contributor.orcidKasnakoğlu, Coşku [0000-0002-9928-727X]
dc.identifier.wosWOS:000431355900005
dc.identifier.scopus2-s2.0-85044026875
dc.contributor.tobbetuauthorKasnakoğlu, Coşku
dc.contributor.YOKid143585
dc.identifier.doi10.1177/0020294018758527
dc.contributor.ScopusAuthorID24802064500
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı


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