Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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

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Subject: search.filters.subject.Adaptive control systemsWoS Q: search.filters.wosQuartile.Q2

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Now showing 1 - 2 of 2
  • Article
    Citation - WoS: 10
    Citation - Scopus: 10
    Observer-Based Adaptive Output Feedback Tracking Control of Dynamically Positioned Surface Vessels
    (Springer Verlag, 2017) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In 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: 17
    Citation - Scopus: 25
    Adaptive Vehicle Skid Control
    (Elsevier Ltd., 2006) Keçeci, Emin Faruk; Tao, Gang
    In 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.