Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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Conference Object Citation - WoS: 15Citation - Scopus: 20Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives [proceedings Paper](Institute of Electrical and Electronics Engineers Inc., 2008) Tatlıcıoğlu, Enver; Braganza, David; Burg, Timothy C.; Dawson, Darren M.In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general sub-task controller for self-motion control. The control objectives are achieved by designing a feedback linearizing controller that includes a least-squares estimation algorithm to compensate for the parametric uncertainties.Article Citation - WoS: 43Citation - Scopus: 48Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives(Cambridge University Press, 2009) Tatlıcıoğlu, Enver; Braganza, David; Burg, Timothy C.; Dawson, Darren M.In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general sub-task controller for self-motion control. The control objectives are achieved by designing a feedback linearizing controller that includes a least-squares estimation algorithm to compensate for the parametric uncertainties. Numerical simulation results are presented to show the validity of the proposed controller.Conference Object Citation - WoS: 25Citation - Scopus: 48Robust Tracking Control of an Underactuated Quadrotor Aerial-Robot Based on a Parametric Uncertain Model(Institute of Electrical and Electronics Engineers Inc., 2009) Lee, Dongbin; Burg, Timothy C.; Dawson, Darren M.; Shu, Dule; Xian, Bin; Tatlıcıoğlu, EnverIn this paper, the tracking control of a underactuated quadrotor aerial vehicle is presented where position and yaw trajectory tracking is achieved using feedback control system. The control design is complicated by considering parametric uncertainty in the dynamic modeling of the quadrotor aerial-robot. Robust control schemes are then designed using a Lyapunov-based approach to compensate for the unknown parameters in each dynamic subsystem model. Lyapunov-type stability analysis suggests a global uniform ultimately bounded (GUUB) tracking resultConference Object Citation - WoS: 4Citation - Scopus: 7Robust Output Tracking Control of a Surface Vessel(Institute of Electrical and Electronics Engineers Inc., 2008) Lee, Dongbin; Tatlıcıoğlu, Enver; Burg, Timothy C.; Dawson, Darren M.In this paper, tracking control of a three degree-of-freedom marine vessel is examined. The primary motivation for this work is the compensation needed for the added mass common to surface vessels, resulting in an asymmetric inertia matrix. Two control schemes are considered: a full-state feedback controller and an output feedback controller. Numerical simulation results are shown to demonstrate the validity of these proposed controllers.Conference Object Citation - WoS: 6Citation - Scopus: 8Adaptive Output Tracking Control of a Surface Vessel(Institute of Electrical and Electronics Engineers Inc., 2008) Lee, Dongbin; Tatlıcıoğlu, Enver; Burg, Timothy C.; Dawson, Darren M.In this paper, the tracking control of a three degree-of-freedom marine vessel is examined. The novelty of this work is the transformation of the asymmetric inertia matrix into a symmetric, positive definite matrix. The asymmetry arises from the added mass common to practical surface vessels and creates a significant challenge for control design. The control design is further complicated by the parametric uncertainties in the dynamic model of the vessel. Two adaptive control schemes with a projection-based adaptation law are proposed: a full-state feedback controller and an output feedback controller. Both controllers are known to yield a uniformly ultimately bounded tracking result in the presence of parametric uncertainty. Numerical simulation results are shown to demonstrate the validity of the proposed controllers.