Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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Article Citation - WoS: 10Citation - Scopus: 10Periodic Disturbance Estimation Based Adaptive Robust Control of Marine Vehicles(Elsevier, 2021) Kurtoğlu, Deniz; Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanTracking control of marine vessels in the presence of parametric uncertainty and additive periodic disturbances is considered. For optimal estimation of environmental forces, periodic disturbance estimation method inspired from Fourier series expansion have been applied. Stability of the closed–loop system and the convergence of the tracking error under the closed–loop operation are established via Lyapunov based arguments. Simulation studies are provided to support the theoretical results and the effectiveness of the proposed method. © 2020 Elsevier LtdArticle Citation - WoS: 16Citation - Scopus: 16Learning Control of Robot Manipulators in Task Space(John Wiley and Sons Inc., 2018) Doğan, Kadriye Merve; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Çetin, KamilTwo important properties of industrial tasks performed by robot manipulators, namely, periodicity (i.e., repetitive nature) of the task and the need for the task to be performed by the end-effector, motivated this work. Not being able to utilize the robot manipulator dynamics due to uncertainties complicated the control design. In a seemingly novel departure from the existing works in the literature, the tracking problem is formulated in the task space and the control input torque is aimed to decrease the task space tracking error directly without making use of inverse kinematics at the position level. A repetitive learning controller is designed which “learns” the overall uncertainties in the robot manipulator dynamics. The stability of the closed-loop system and asymptotic end-effector tracking of a periodic desired trajectory are guaranteed via Lyapunov based analysis methods. Experiments performed on an in-house developed robot manipulator are presented to illustrate the performance and viability of the proposed controller.Article Citation - WoS: 4Citation - Scopus: 3A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems(The American Society of Mechanical Engineers(ASME), 2018) Deniz, Meryem; Bayrak, Alper; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanIn this study, the design of a smooth robust velocity observer for a class of uncertain nonlinear mechatronic systems is presented. The proposed velocity observer does not require a priori knowledge of the upper bounds of the uncertain system dynamics and introduces time-varying observer gains for uncertainty compensation. Practical stability of the velocity observation error is ensured via Lyapunov-type stability analysis. Experimental results obtained from Phantom Omni haptic device are presented to illustrate the performance of the proposed velocity observer.Conference Object Citation - WoS: 1Citation - Scopus: 1A Dynamic Model Free Observer Based Output Feedback Tracking Control of Robot Manipulators in Task-Space(Institute of Electrical and Electronics Engineers Inc., 2018) Çobanoğlu, Necati; Çetin, Kamil; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanThis paper addresses the output feedback end-effector position tracking control of robotic manipulators. Specifically, via the design of a novel dynamic model independent observer constructed through a Lyapunov type analysis and under the assumption that the manipulator Jacobian is always invertible, we propose a model based nonlinear controller which ensures asymptotic robot end-effector tracking without the need of joint and/or task space velocity measurements. Simulation results are included to illustrate the performance and effectiveness of the proposed method.Article Citation - Scopus: 1A New Robust Controller Formulation for the Full–state Feedback Position Tracking of a Small–scaled Unmanned Model Helicopter(IFAC Secretariat, 2017) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanThis work focuses on the robust attitude tracking control problem for a small– scaled unmanned helicopter where the actual system inputs, namely the elevator servo input, the aileron servo input and the rudder servo input, are used in the controller formulation. The design process is divided into two parts. Initially the problem is transformed into a second order system with an uncertain non–symmetric input gain matrix by utilizing some reasonable simplifications for the rotor model under the hovering flight conditions. Then a novel robust control methodology is utilized via a matrix decomposition method. The stability of the overall system is ensured by Lyapunov type analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed method.Article Citation - WoS: 14Citation - Scopus: 15Compensating of Added Mass Terms in Dynamically Positioned Surface Vehicles: a Continuous Robust Control Approach(Elsevier Ltd., 2017) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanIn this work, we provide a tracking controller formulation for dynamically positioned surface vessels with an asymmetric added mass terms that affects the overall system dynamics at the acceleration level. Specifically a novel continuous robust controller is proposed for surface vessels that in addition to unstructured uncertainties in its dynamics, contains added mass effects in its inertia matrix. The proposed controller compensates the overall system uncertainties while ensuring asymptotic tracking by utilizing the knowledge of the leading principal minors of the input gain matrix. Stability of the closed–loop system and asymptotic convergence are proven via Lyapunov based approaches. Simulation studies are also presented to illustrate the viability of the proposed methodConference Object Citation - WoS: 3Citation - Scopus: 4Neural Network Based Repetitive Learning Control of Robot Manipulators(Institute of Electrical and Electronics Engineers Inc., 2017) Çobanoğlu, Necati; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanControl of robot manipulators performing periodic tasks is considered in this work. The control problem is complicated by presence of uncertainties in the robot manipulator's dynamic model. To address this restriction, a model free repetitive learning controller design is aimed. To reduce the heavy control effort, a neural network based compensation term is fused with the repetitive learning controller. The convergence of the tracking error to the origin is ensured via Lyapunov based techniques. Numerical simulations and experiments are performed to demonstrate the viability of the proposed controller.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: 11Citation - Scopus: 11Model Reference Tracking Control of an Aircraft: a Robust Adaptive Approach(Taylor and Francis Ltd., 2017) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanThis work presents the design and the corresponding analysis of a nonlinear robust adaptive controller for model reference tracking of an aircraft that has parametric uncertainties in its system matrices and additive state- and/or time-dependent nonlinear disturbance-like terms in its dynamics. Specifically, robust integral of the sign of the error feedback term and an adaptive term is fused with a proportional integral controller. Lyapunov-based stability analysis techniques are utilised to prove global asymptotic convergence of the output tracking error. Extensive numerical simulations are presented to illustrate the performance of the proposed robust adaptive controller.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.