Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Conference Object Robust Control of a Rigid Link in a Cross Flow(Institute of Electrical and Electronics Engineers Inc., 2015) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanRemotely operated vehicles equipped with a robotic manipulator are utilized in several underwater/deep sea applications. Control of these type of systems are mostly provided by obtaining the proper position for the end effector of robotic manipulator which constitutes the desired motion for remotely operated vehicle. This situation makes the control of robotic manipulators is really important subject for underwater applications. In this work, we study tracking control of a one degree-of-freedom rigid link in a cross flow. Systems operating at underwater (including this one) are hard to model accurately, and as a result their models include several uncertainties. To reject these modeling uncertainties and external ones, two robust controllers are proposed. Stability of the closed-loop system and the asymptotic convergence of the tracking error are proven mathematically. Numerical simulations are performed to demonstrate the viability of the proposed controller.Conference Object Citation - WoS: 6Citation - Scopus: 6Operational/Task Space Learning Control of Robot Manipulators With Dynamical Uncertainties(Institute of Electrical and Electronics Engineers Inc., 2015) Doğan, K. Merve; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanIn this work, we consider the problem of operational/task space tracking control of a robot manipulator where a periodic desired end-effector pose is to be tracked. Specifically, we designed a repetitive learning controller that guarantees asymptotic end-effector tracking of periodic trajectories (with known period) while "learning" the overall uncertainties in the system dynamics. The proposed controller does not make use of the inverse kinematic formulation on the position level and the stability of the closed-loop system is guaranteed via Lyapunov based arguments. Numerical studies are conducted on a two link planar robot are presented to illustrate the performance and viability of the proposed method.