Szczegóły publikacji
Opis bibliograficzny
Lyapunov-guided adaptive tuning of lupaş q-bernstein polynomial coefficients for precision object handling in multi-robot electrical manipulators / Saleh Mobayen, Alireza Izadbakhsh, Paweł SKRUCH // Mathematics and Computers in Simulation ; ISSN 0378-4754 . — 2026 — vol. 246, s. 414-439. — Bibliogr. s. 438-439, Abstr. — Publikacja dostępna online od: 2026-02-07
Autorzy (3)
- Mobayen Saleh
- Izadbakhsh Alireza
- AGHSkruch Paweł
Słowa kluczowe
Dane bibliometryczne
| ID BaDAP | 166074 |
|---|---|
| Data dodania do BaDAP | 2026-03-11 |
| Tekst źródłowy | URL |
| DOI | 10.1016/j.matcom.2026.02.006 |
| Rok publikacji | 2026 |
| Typ publikacji | artykuł w czasopiśmie |
| Otwarty dostęp |  |
| Czasopismo/seria | Mathematics and Computers in Simulation |
Abstract
This paper presents an adaptive output feedback tracking controller for cooperative multiple electrically driven robotic arms. The main innovation lies in employing the Lupaş q-analogue of the Bernstein polynomials as an uncertainty approximator whose coefficients are updated through Lyapunov-based learning laws, marking the first engineering application of this operator within an adaptive control framework. Unlike conventional adaptive, neural, or fuzzy-based schemes, the proposed method is regressor-free, relies solely on joint-position measurements, and avoids the intricate tuning procedures and computational burden typically associated with neuro-fuzzy approximators. A rigorous Lyapunov analysis ensures that all position and force tracking errors remain uniformly ultimately bounded. The controller is implemented on a dual-arm cooperative manipulation setup and quantitatively compared with two state-of-the-art approximation techniques. The simulation results confirm the proposed method’s superior precision, robustness, and real-time efficiency in the presence of model uncertainties and external disturbances.
