Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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

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Department: search.filters.department.İzmir Institute of TechnologyInstitution Author: search.filters.institutionAuthor.Tatlıcıoğlu, Enver

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  • Conference Object
    Citation - WoS: 2
    Citation - Scopus: 2
    Continuous Robust Task-Space Tracking Control of Robotic Manipulators With Uncertain Dynamics
    (Institute of Electrical and Electronics Engineers Inc., 2015) Cetin, K.; Tatlicioglu, E.; Zergeroglu, E.
    In this work, the problem of robust task space control of robotic manipulators with continuous control inputs have been considered. Under mild assumptions on kinematic formulation and dynamics of the robot manipulator, a continuous robust controller have been proposed. The proposed controller ensures asymptotic end-effector tracking despite the presence of unstructured uncertainties associated with the dynamical terms. Numerical simulations conducted on a two degree-of-freedom robot manipulator is also presented to illustrate the feasibility and performance of the proposed controller. © 2015 IEEE.
  • Conference Object
    Citation - WoS: 4
    Citation - Scopus: 6
    A Robust Tracking Controller for Dynamically Positioned Surface Vessels With Added Mass
    (Institute of Electrical and Electronics Engineers Inc., 2014) Bidikli, B.; Tatlicioglu, E.; Zergeroglu, E.
    This work concentrates on tracking control of dynamically positioned surface vessels with asymmetric added mass terms affecting the system model at the acceleration level. Specifically, we propose a novel continuous robust controller for surface vessels that, in addition to asymmetric added mass in its inertia matrix, contains unstructured uncertainties in all its system matrices. The proposed controller compensates the overall system uncertainties and ensures asymptotic tracking, while requiring only the knowledge of the sign of the leading principle minors of the input gain matrix. Lyapunov based approaches are applied in order to prove the stability of the closed-loop system and asymptotic convergence of the tracking error signal. © 2014 IEEE.