Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
Browse
9 results
Search Results
Now showing 1 - 9 of 9
Conference Object Citation - Scopus: 5Adaptive Visual Servo Regulation Control for Camera-In Configuration With a Fixed Camera Extension(Institute of Electrical and Electronics Engineers Inc., 2007) 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: 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: 10Citation - Scopus: 10Observer-Based Adaptive Output Feedback Tracking Control of Dynamically Positioned Surface Vessels(Springer Verlag, 2017) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanIn this work, we propose an observer-based adaptive output feedback tracking controller for dynamically positioned surface vessels. Specifically, to remove the velocity measurement dependency of the control formulation a nonlinear, model-free observer formulation have been proposed. The proposed observer does not make use of the system dynamics and together with the proposed controller structure ensure that the tracking error signal and the velocity estimation error asymptotically converges to zero. Stability of the closed-loop system is ensured by Lyapunov-based arguments. Simulation studies are also presented to illustrate the effectiveness of the proposed method.Article Citation - WoS: 6Citation - Scopus: 7On Adaptive Output Feedback Controf Robotic Manipulators With Online Disturbance Estimation(Springer Verlag, 2017) Aksoy, Orhan; Zergeroğlu, Erkan; Tatlıcıoğlu, EnverThe problem of disturbance estimation and compensation for adaptive output feedback type controllers are investigated. Specifically two adaptive output feedback controllers designed for robotic manipulators are extended to compensate external disturbances which are common in robotic applications with repetitive task. The uncertain disturbance term in the robot dynamics is modeled as a fixed term plus a combination of sinusoidal signals. The overall stability and convergence of the tracking error for both controllers is ensured via Lyapunov based analysis. Extensive simulation studies are presented to illustrate the feasibility of the proposed method.Conference Object Citation - Scopus: 1Robust Adaptive Control of Nonlinear Systems With Unknown State Delay(Institute of Electrical and Electronics Engineers Inc., 2013) Bayrak, Alper; Tatlıcıoğlu, Enver; Bıdıklı, Barış; Zergeroğlu, ErkanIn this work, we propose a new robust adaptive controller for a class of multi-input multi-output nonlinear systems subject to uncertain state delay. The proposed method is proven to yield semi-global asymptotic tracking despite the presence of additive input and output disturbances and parametric uncertainty in the system dynamics. An adaptive desired system compensation in conjunction with a continuous nonlinear integral feedback component is utilized in the design of the controller and Lyapunov-based techniques, are used to prove that the tracking error is asymptotically driven to zero. Numerical simulation results are presented to demonstrate the effectiveness of the proposed method. © 2013 IEEE.Conference Object Citation - Scopus: 9Adaptive Rtp Rate Control Method(Institute of Electrical and Electronics Engineers Inc., 2011) Tos, Uras; Ayav, TolgaIn this paper, we present an adaptive method for maximizing network bandwidth utilization for the real-time applications. RTP protocol is chosen as the transport protocol and the network utilization is provided by increasing and decreasing the transmission rate of the RTP traffic. Our method employs a PID controller that keeps the RTP packet loss fraction at a predefined reference point. Packet loss fraction parameter is gathered from the RTCP receiver reports and fed into the PID controller that controls the transmission rate of the RTP traffic. Simulations are performed to demonstrate the effectiveness of the method under a bottleneck network configuration with background UDP traffic competing against the RTP traffic for the available bandwidth.Conference Object Citation - WoS: 7Citation - Scopus: 12Adaptive Actuator Failure Compensation for Redundant Manipulators(Cambridge University Press, 2009) Keçeci, Emin Faruk; Tang, Xidong; Tao, GangThis paper presents an adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures for redundant manipulator systems. The method is first developed for manipulators whose joints are concurrently actuated. While physical realization of concurrently actuated manipulators and the advantages of their use have been understood before, in this paper failure modeling, controller structure, and adaptive update rules for handling uncertainties from the actuator failures are studied. The adaptive actuator failure compensation method is then expanded for a cooperating multiple manipulator system with uncertain actuator failures. Dynamic equations of such a multiple manipulator system in the task space are derived and the adaptive actuator failure compensation problem is formulated in the task space, for which a compensation controller structure is proposed with stable adaptive parameter update laws. The adaptive control scheme is able to compensate for the uncertainties of system parameters and actuator failures in a more general sense. For both cases, closed-loop system stability and asymptotic tracking are proved, despite uncertain system failures.Article Citation - WoS: 43Citation - Scopus: 48Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives(Cambridge University Press, 2009) Tatlıcıoğlu, Enver; Braganza, David; Burg, Timothy C.; Dawson, Darren M.In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general sub-task controller for self-motion control. The control objectives are achieved by designing a feedback linearizing controller that includes a least-squares estimation algorithm to compensate for the parametric uncertainties. Numerical simulation results are presented to show the validity of the proposed controller.Article Citation - WoS: 17Citation - Scopus: 25Adaptive Vehicle Skid Control(Elsevier Ltd., 2006) Keçeci, Emin Faruk; Tao, GangIn this paper, adaptive vehicle skid control, for stability and tracking of a vehicle during slippage of its wheels without braking, is addressed. Two adaptive control algorithms are developed: one for the case when no road condition information is available, and one for the case when certain information is known only about the instant type of road surface on which the vehicle is moving. The vehicle control system with an adaptive control law keeps the speed of the vehicle as desired by applying more power to the drive wheels where the additional driving force at the non-skidding wheel will compensate for the loss of the driving force at the skidding wheel, and also arranges the direction of the vehicle motion by changing the steering angle of the two front steering wheels. Stability analysis proves that the vehicle position and velocity errors are both bounded. With additional road surface information available, the adaptive control system guarantees that the vehicle position error and velocity error converge to zero asymptotically even if the road surface parameters are unknown.