Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7148

Browse

Filters

2003 - 200912020 - 20211

Settings

COAR Access Rights: search.filters.coarAccessRights.open accessSubject: search.filters.subject.Adaptive control

Search Results

Now showing 1 - 2 of 2
  • Article
    Citation - WoS: 10
    Citation - Scopus: 10
    Periodic Disturbance Estimation Based Adaptive Robust Control of Marine Vehicles
    (Elsevier, 2021) Kurtoğlu, Deniz; Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    Tracking control of marine vessels in the presence of parametric uncertainty and additive periodic disturbances is considered. For optimal estimation of environmental forces, periodic disturbance estimation method inspired from Fourier series expansion have been applied. Stability of the closed–loop system and the convergence of the tracking error under the closed–loop operation are established via Lyapunov based arguments. Simulation studies are provided to support the theoretical results and the effectiveness of the proposed method. © 2020 Elsevier Ltd
  • Conference Object
    Adaptive Actuator Failure Compensation for Cooperating Multiple Manipulator Systems
    (Elsevier, 2003) Keçeci, Emin Faruk; Tang, Xidong; Tao, Gang
    This paper presents adaptive actuator failure compensation for a cooperating multiple manipulator system with uncertain actuator failures in the task space. Advantages of designing control schemes in task spaces are emphasized, applications of task space control in robotics are discussed and a short review on control algorithms for cooperating multiple manipulator systems is given. Dynamic equations of motion of the multiple manipulator system in the task space are derived, and the adaptive actuator failure compensation problem is formulated. A compensation controller structure is proposed, for which adaptive parameter update laws are developed. The adaptive control scheme is able to compensate for the uncertainties arising from both the system parameters and the actuator failures. Based on Lyapunov stability analysis, the closed-loop signal boundedness and the convergence of the tracking error to zero are ensured. © 2003 International Federation of Automatic Control.