Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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Conference Object Citation - WoS: 2Citation - Scopus: 1A Self-Tuning Velocity Observer Formulation for a Class of Nonlinear Systems(Institute of Electrical and Electronics Engineers Inc., 2016) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanThis work presents the design and the corresponding stability analysis of a model free velocity observer formulation for nonlinear systems modeled by Euler-Lagrange formulation. The observation gains of the proposed formulation are tuned online according to an update algorithm removing the burden of observation gain tuning. Lyapunov based arguments are applied to prove the overall system stability. Performance of the observer proposed is illustrated via extensive simulation studies. Experimental studies are also utilized to demonstrate the viability of the proposed formulation.Conference Object Citation - WoS: 3Citation - Scopus: 5Robust Control Design for Positioning of an Unactuated Surface Vessel(Institute of Electrical and Electronics Engineers Inc., 2015) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanIn this paper, a robust controller is designed to achieve accurate positioning of an unactuated surface vessel by using multiple unidirectional tugboats. After initially locating opposing tugboats to specific configurations, the control problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Upon applying a matrix decomposition, a robust controller is proposed. Detailed stability analysis ensured asymptotic tracking. Numerical simulation results demonstrate the efficiency of the proposed controller © 2015 IEEE.Conference Object Citation - WoS: 28Citation - Scopus: 34A New Robust 'integral of Sign of Error' Feedback Controller With Adaptive Compensation Gain(Institute of Electrical and Electronics Engineers Inc., 2013) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Bayrak, Alper; Zergeroğlu, ErkanIn this paper, a new robust integral of signum of error (RISE) feedback type controller is designed for a class of uncertain nonlinear systems. Unlike the previous versions of RISE feedback type controllers, the proposed controller does not require prior knowledge of upper bounds of the vector containing the uncertainties of the dynamical system plus desired system dynamics (and their derivatives) for the control gain selection. The aforementioned enhancement is made possible via the design of a time-varying compensation gain as opposed to a constant gain used in previous RISE feedback type controllers. Asymptotic stability of the error signals and the boundedness of the closed-loop system signals are ensured via Lyapunov based arguments. Numerical simulation studies are presented to illustrate the viability of the proposed method. ©2013 IEEE.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.