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 Technology. Mechanical EngineeringSubject: search.filters.subject.Stability

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  • Conference Object
    Citation - Scopus: 2
    Adaptive Actuator Failure Compensation for Concurrently Actuated Manipulators
    (Elsevier, 2003) Keçeci, Emin Faruk; Tang, Xidong; Tao, Gang
    This paper presents an adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures and system dynamics, for a class of redundant manipulators where some joints concurrently actuated. Physical realization of concurrently actuated manipulators and their advantageous of use have been understood before, but adaptive failure compensation is still an open issue. In this research, failure formulation, controller structure and adaptive update rules for handling uncertainties from both the system dynamics and the failures are studied. The system stability is shown by a modified Lyapunov. Simulation results show the effectiveness of the proposed adaptive failure compensation control design.
  • 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.
  • Article
    Citation - WoS: 7
    Citation - Scopus: 7
    Exact Solution and Dynamic Buckling Analysis of a Beam-Column System Having the Elliptic Type Loading
    (Springer Verlag, 2010) Artem, Hatice Seçil; Aydın, Levent
    This paper presents a closed form solution to the dynamic stability problem of a beam-column system with hinged ends loaded by an axial periodically time-varying compressive force of an elliptic type, i.e., a 1cn 2(τ, k 2) + a 2sn2(τ, k 2) + a 3dn2(τ, k 2). The solution to the governing equation is obtained in the form of Fourier sine series. The resulting ordinary differential equation is solved analytically. Finding the exact analytical solutions to the dynamic buckling problems is difficult. However, the availability of exact solutions can provide adequate understanding for the physical characteristics of the system. In this study, the frequency-response characteristics of the system, the effects of the static load, the driving forces, and the frequency ratio on the critical buckling load are also investigated. © 2010 Shanghai University and Springer-Verlag Berlin Heidelberg.