WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7150
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Conference Object Citation - WoS: 3Citation - Scopus: 3Inverse Optimal Adaptive Output Feedback Control of Euler-Lagrange Systems: a Variable Structure Observer Based Approach(Institute of Electrical and Electronics Engineers Inc., 2015) Aksoy, Orhan; Zergeroğlu, Erkan; Tatlıcıoğlu, EnverThis work focuses on inverse optimal, observer based output feedback control of Euler-Lagrange systems. Specifically a variable structure observer based output feedback controller is proposed which aside from ensuring asymptotic position tracking also ensures that a positive cost function, penalizing control input performance, is minimized. Simulation studies performed on a two link planar robot manipulator are included to illustrate the overall performance and feasibility of the proposed controller. © 2015 IEEE.Article Citation - WoS: 6Citation - Scopus: 8A Model Independent Observer Based Output Feedback Tracking Controller for Robotic Manipulators With Dynamical Uncertainties(Cambridge University Press, 2017) Zergeroğlu, Erkan; Tatlıcıoğlu, Enver; Kaleli, EgemenIn this work, we propose the development and the corresponding stability analysis of a novel, observer-based output feedback (OFB), tracking controller for rigid-link robot manipulators. Specifically, a model-independent variable-structure-like observer in conjunction with a desired dynamic compensation technique have been utilized to remove the link velocity dependency of the controller formulation. Asymptotic stability of the observer - controller couple is then guaranteed via Lyapunov-based arguments. An adaptive controller extension is also presented to illustrate the expansiveness of the proposed scheme. Experimental studies performed on a two-link planar robot with dynamical uncertainties are included in order to demonstrate the performance and feasibility of the proposed method.Article Citation - WoS: 1Citation - Scopus: 1Dynamically Adaptive Partition-Based Interest Management in Distributed Simulation(Elsevier Ltd., 2006) Kumova, Bora İsmailPerformance and scalability of distributed simulations depends primarily on the effectiveness of the employed interest management (IM) schema that aims at reducing the overall computational and messaging effort on the shared data to a necessary minimum. Existing IM approaches, which are based on variations or combinations of two principle data distribution techniques, namely region-based and grid-based techniques, perform poorly if the simulation develops an overloaded host. In order to facilitate distributing the processing load from overloaded areas of the shared data to less loaded hosts, the partition-based technique is introduced that allows for variable-size partitioning the shared data. Based on this data distribution technique, an IM approach is sketched that is dynamically adaptive to access latencies of simulation objects on the shared data as well as to the physical location of the objects. Since this re-distribution is decided depending on the messaging effort of the simulation objects for updating data partitions, any load balanced constellation has the additional advantage to be of minimal overall messaging effort. Hence, the IM schema dynamically resolves messaging overloading as well as overloading of hosts with simulation objects and therefore facilitates dynamic system scalability.