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: 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 methodArticle Citation - WoS: 30Citation - Scopus: 35Robust Dynamic Positioning of Surface Vessels Via Multiple Unidirectional Tugboats(Elsevier Ltd., 2016) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanIn this paper, the problem of accurate positioning of an unactuated surface vessel by using multiple uni-directional tugboats is investigated. Specifically a robust controller that ensures asymptotic position tracking is designed. The control design procedure is implemented in two steps: Initially by locating opposing tugboats to specific configurations, the overall problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Then via a matrix decomposition, a novel robust controller methodology is proposed. The stability of the overall system is ensured via rigorous stability analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed controller.Article Citation - WoS: 4Citation - Scopus: 5An Asymptotically Stable Robust Controller Formulation for a Class of Mimo Nonlinear Systems With Uncertain Dynamics(Taylor and Francis Ltd., 2016) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Bayrak, AlperIn this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method.