Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
Browse
5 results
Search Results
Conference Object Citation - Scopus: 13-D Switching Fabric Node Design(ACTA Press, 2004) Dinleyici, Mehmet Salih; Akın, OsmanIn this work we investigate an all-optical switching node that can be controlled by means of a transient grating, which is formed by interference of two Gaussian beams. This design considers 3-D architecture of switching fabrics.. real profile of Gaussian beams and fast switching time requirements. Four Wave Mixing (FWM) technique is applied in the evanescent field region of waveguide, showing chi((3)) nonlinearity. The formed grating is analysed by standart methods to obtain reflection coefficient and then coupling coefficient for power exchange between waveguides.Article Citation - WoS: 2Citation - Scopus: 14Dynamic Modelling for Planar Extensible Continuum Robot Manipulators(ACTA Press, 2009) Tatlıcıoğlu, Enver; Walker, I. D.; Dawson, D. M.In this paper, a new dynamic model for continuum robot manipulators is derived. The dynamic model is developed based on the geometric model of extensible continuum robot manipulators with no torsional effects. The development presented in this paper extends the previously available models to include a class of extensible continuum robot manipulators. First, the kinetic energy of a slice of the continuum robot is evaluated. Next, the total kinetic energy of the manipulator is obtained by utilizing a limit operation (i.e., sum of the kinetic energy of all the slices). Then, the gravitational potential energy of the manipulator is derived. Next, the elastic potential energy of the manipulator is derived for both bending and extension. Finally, the dynamic model of a planar 3-section extensible continuum robot manipulator is derived by utilizing the Lagrange representation. Numerical simulation results are presented for a planar 3-section extensible continuum robot manipulator.Article Citation - WoS: 4Citation - Scopus: 4Adaptive Visual Servo Regulation Control for Camera-In Configuration With a Fixed Camera Extension(ACTA Press, 2009) Tatlıcıoğlu, Enver; Dawson, Darren M.; Xian, B.In this paper, image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed. To compensate for the unknown camera calibration parameters, a novel prediction error formulation is presented. To achieve the control objectives, a Lyapunov-based adaptive control strategy is employed. The control development for the camera-in-hand problem is presented in detail and a fixed-camera problem is included as an extension.Article Citation - WoS: 7Citation - Scopus: 9Adaptive Control Non-Linear Teleoperator Systems in the Presence of Additive Input and Output Disturbances(ACTA Press, 2010) Tatlıcıoğlu, EnverIn this paper, a robust adaptive controller is developed for nonlinear teleoperator systems. The controller is proven to yield semi-global asymptotic tracking in the presence of additive disturbances and parametric uncertainty. Robust integral of the sign of the error terms are utilized in the design of the controller and Lyapunov-based techniques are used to guarantee that the coordination between the master and the slave systems is ensured and the tracking error is asymptotically driven to zero.Article Citation - WoS: 6Citation - Scopus: 7Neural Network Based Robust Control of an Aircraft(ACTA Press, 2020) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroǧlu, ErkanOutput tracking control of an aircraft subject to uncertainties in the dynamic model and additive state-dependent nonlinear disturbancelike terms is aimed. Uncertainties in the aircraft dynamic model yield an uncertain input gain matrix, which is neither positive definite nor symmetric and an uncertain term in the error dynamics. To deal with the uncertain input gain matrix, a decomposition method is utilized to put error dynamics in a form where an uncertain positive definite matrix multiplies the auxiliary error but this results in the control input to be pre-multiplied first with a unity upper triangular matrix which is uncertain and then with a known diagonal matrix. A novel controller composed of a neural network compensation term and an integral of signum of error is designed. A novel Lyapunov type stability analysis is utilized to prove global asymptotic tracking of output of a reference model. Extensive numerical simulations are presented to demonstrate the efficacy of the proposed controller where robustness to variation of initial states and a comparison with a robust controller are also shown. © 2020 Acta Press. All rights reserved.