Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Article Citation - WoS: 10Citation - Scopus: 10Periodic Disturbance Estimation Based Adaptive Robust Control of Marine Vehicles(Elsevier, 2021) Kurtoğlu, Deniz; Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanTracking 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 LtdConference Object Adaptive Actuator Failure Compensation for Cooperating Multiple Manipulator Systems(Elsevier, 2003) Keçeci, Emin Faruk; Tang, Xidong; Tao, GangThis 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.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.