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Adaptive Model Predictive Control of a Two-wheeled Robot Manipulator with Varying Mass

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dc.contributor.author Önkol, M.
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 http://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 eng tr
dc.publisher SAGE Publications Ltd tr
dc.rights info:eu-repo/semantics/openAccess tr
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 tr
dc.type article tr
dc.relation.journal Measurement and Control tr
dc.contributor.department TOBB ETU, Faculty of Engineering, Department of Electrical & Electronics Engineering en_US
dc.identifier.volume 51 tr
dc.identifier.issue 1-2 tr
dc.identifier.startpage 38 tr
dc.identifier.endpage 56 tr
dc.contributor.orcid Kasnakoğlu, Coşku [0000-0002-9928-727X]
dc.identifier.wos WOS:000431355900005
dc.identifier.scopus 2-s2.0-85044026875
dc.contributor.tobbetuauthor Kasnakoğlu, Coşku
dc.contributor.YOKid 143585
dc.identifier.doi 10.1177/0020294018758527
dc.contributor.ScopusAuthorID 24802064500
dc.relation.publicationcategory Uluslararası yayın


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