Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Conference Object A New Continuous Velocity Observer Formulation for a Class of Uncertain Nonlinear Mechanical Systems(Institute of Electrical and Electronics Engineers, 2015) Bayrak, Alper; Bayrak, Alper; Tatlıcıoğlu, Enver; Tatlıcıoğlu, Enver; Zergeroǧlu, Erkan; Deniz, Meryem; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyIn this study, we present a smooth robust velocity observer for a class of uncertain nonlinear mechanical systems. The smoothness of the observers is guaranteed by utilizing hyperbolic tangent function as opposed to signum-type functions applied in most robust and sliding mode observers found in the literature. The proposed observer does not require a priori knowledge of an upper bound of the uncertain system dynamics and introduces a time-varying observer gain for uncertainty compensation. Practical stability of the observer error is ensured via Lyapunov-type stability analysis. Numerical simulation studies backed up by experimental results are presented to illustrate the performance of the proposed observer.Conference Object Citation - Scopus: 1Modelling Twin Rotor System With Artificial Neural Networks(Institute of Electrical and Electronics Engineers Inc., 2015) Tatlıcıoğlu, Enver; Bıdıklı, Barış; Bayrak, Alper; Özdemirel, Barbaros; Bayrak, Alper; Özdemirel, Barbaros; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyIn this study, the input output relation of the twin rotor system which was constructed in our laboratory is obtained by using ANNs. When compared with the existing literature, main advantage of this modelling approach is that multi input multi output ANN structure is used preferred. As a result of this approach, the cross coupling effects, between the rotors and also between the outputs, are taken into consideration. Thus, we sincerely believe that the obtained input output model demonstrates a close behavior to the real system.Article Citation - WoS: 4Citation - Scopus: 3A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems(The American Society of Mechanical Engineers(ASME), 2018) Deniz, Meryem; Bayrak, Alper; Tatlıcıoğlu, Enver; Bayrak, Alper; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyIn this study, the design of a smooth robust velocity observer for a class of uncertain nonlinear mechatronic systems is presented. The proposed velocity observer does not require a priori knowledge of the upper bounds of the uncertain system dynamics and introduces time-varying observer gains for uncertainty compensation. Practical stability of the velocity observation error is ensured via Lyapunov-type stability analysis. Experimental results obtained from Phantom Omni haptic device are presented to illustrate the performance of the proposed velocity observer.