Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/11

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Author: search.filters.author.Aksoy, OrhanSubject: search.filters.subject.Nonlinear systems

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  • Conference Object
    Citation - WoS: 3
    Citation - Scopus: 3
    Inverse 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, Enver
    This 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: 9
    Citation - Scopus: 13
    Nonlinear Robust Control of Tendon–driven Robot Manipulators
    (Springer Verlag, 2015) Okur, Beytullah; Aksoy, Orhan; Zergeroglu, Erkan; Tatlıcıoglu, Enver
    This work addresses the position tracking control problem for tendon–driven robotic mechanisms in the presence of parametric uncertainty and additive external disturbances. Specifically, a full state feedback nonlinear robust controller is proposed to tackle the link position tracking problem for tendon–driven robot manipulators with uncertain dynamical system parameters. A robust backstepping approach has been utilized to achieve uniformly ultimately bounded tracking performance despite the lack of exact knowledge of the dynamical parameters and presence of additive but bounded disturbance terms. Stability of the overall system is proven via Lyapunov based arguments. Simulation studies performed on a two link planar robot manipulator driven by a six tendon mechanism are presented to illustrate the effectiveness and viability of the proposed approach.