Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Author: search.filters.author.Dawson, Darren M.Publisher: search.filters.publisher.Institute of Electrical and Electronics Engineers Inc.

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Now showing 1 - 10 of 12
  • Conference Object
    Citation - Scopus: 5
    Adaptive Visual Servo Regulation Control for Camera-In Configuration With a Fixed Camera Extension
    (Institute of Electrical and Electronics Engineers Inc., 2007) Tatlıcıoğlu, Enver; Tatlıcıoğlu, Enver; Dawson, Darren M.; Xian, B.; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    In this paper, image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed. To compensate for the unknown camera calibration parameters, a novel prediction error formulation is presented. To achieve the control objectives, a Lyapunov-based adaptive control strategy is employed. The control development for the camera-in-hand problem is presented in detail and a fixed-camera problem is included as an extension.
  • Conference Object
    Citation - WoS: 15
    Citation - Scopus: 20
    Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives [proceedings Paper]
    (Institute of Electrical and Electronics Engineers Inc., 2008) Tatlıcıoğlu, Enver; Tatlıcıoğlu, Enver; Braganza, David; Burg, Timothy C.; Dawson, Darren M.; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    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.
  • Conference Object
    Citation - WoS: 2
    Citation - Scopus: 4
    A New Robust Nonlinear Control Algorithm for the Regulation of Blood Glucose in Diabetic Patients
    (Institute of Electrical and Electronics Engineers Inc., 2012) Özyetkin, Mine M.; Tatlıcıoğlu, Enver; Tatlıcıoğlu, Enver; Dawson, Darren M.; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    Diabetes mellitus is a growing health problem worldwide. Especially, the patients with Type 1 diabetes need strict glycemic control because they have deficiency of insulin production. Today, the aim of the researchers is to develop a fully automated closed loop control system (i. e., artificial pancreas which is capable of continuous glucose sensing and regulating) that replicates the function of pancreatic beta cells. This equipment is supposed to be capable of maintaining normal blood glucose level on a desired level (4-6.2 mmol/L) and taking all factors affecting glucose concentration into account without inducing hypoglycemia and hyperglycemia. In this paper, control of the Bergman minimal mathematical model to regulate blood glucose level is discussed. The control problem is complicated by the fact that the model is considered to be uncertain. Furthermore, only the glucose level is assumed to be available for control development and other states such as insulin concentration and plasma insulin concentration are assumed to be unavailable for measurement. A novel robust controller is proposed that guarantees practical tracking of a desired glucose concentration. © 2012 IEEE.
  • Article
    Citation - WoS: 1
    Citation - Scopus: 3
    Euclidean Position Estimation of Static Features Using a Moving Uncalibrated Camera
    (Institute of Electrical and Electronics Engineers Inc., 2012) Nath, Nitendra; Tatlıcıoğlu, Enver; Tatlıcıoğlu, Enver; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    In this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on amoving platform is developed to asymptotically recover the 3-D Euclidean position of static object features. The position of the moving platform is assumed to be measurable, and a second object with known 3-D Euclidean coordinates relative to theworld frame is considered to be available a priori. To account for the unknown camera calibration parameters and to estimate the unknown 3-D Euclidean coordinates, an adaptive least squares estimation strategy is employed based on prediction error formulations and a Lyapunovtype stability analysis. The developed estimator is shown to recover the 3-D Euclidean position of the unknown object features despite the lack of knowledge of the camera calibration parameters. Numerical simulation results along with experimental results are presented to illustrate the effectiveness of the proposed algorithm. © 2011 IEEE.
  • Conference Object
    Citation - Scopus: 1
    Range Identification for Nonlinear Parameterizable Paracatadioptric Systems
    (Institute of Electrical and Electronics Engineers Inc., 2009) Nath, Nitendra; Tatlıcıoğlu, Enver; Tatlıcıoğlu, Enver; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    In this paper, a new range identification technique for a calibrated paracatadioptric system mounted on a moving platform is developed to recover the range information and the three-dimensional (3D) Euclidean coordinates of a static object feature. The position of the moving platform is assumed to be measurable. To identify the unknown range, first a function of the projected pixel coordinates is related to the unknown 3D Euclidean coordinates of an object feature. This function is nonlinearly parameterized (i.e., the unknown parameters appear nonlinearly in the parameterized model). An adaptive estimator based on a min-max algorithm is then designed to estimate the unknown 3D Euclidean coordinates of an object feature relative to a fixed reference frame which facilitates the identification of range. A Lyapunov-type stability analysis is used to show that the developed estimator provides an estimation of the unknown parameters within a desired precision.
  • Conference Object
    Citation - Scopus: 1
    Nonlinear Robust Control To Maximize Energy Capture in a Variable Speed Wind Turbine Using an Induction Generator
    (Institute of Electrical and Electronics Engineers Inc., 2009) Iyasere, Erhun; Tatlıcıoğlu, Enver; Wagner, John R.; Salah, Mohammed; Tatlıcıoğlu, Enver; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    The emergence of wind turbine systems for electric power generation can help satisfy the growing global demand. This paper proposes a control strategy to maximize the wind energy captured in a variable speed wind turbine, with an internal induction generator, at low to medium wind speeds. The proposed strategy controls the tip speed ratio, via the rotor angular speed, to an optimum point at which the efficiency constant (or power coefficient) is maximal for a particular blade pitch angle and wind speed. This control method allows for aerodynamic rotor power maximization without exact wind turbine model knowledge.
  • Conference Object
    Citation - Scopus: 1
    Euclidean Position Estimation of Static Features Using a Moving Uncalibrated Camera
    (Institute of Electrical and Electronics Engineers Inc., 2009) Nath, Nitendra; Tatlıcıoğlu, Enver; Tatlıcıoğlu, Enver; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    In this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on a moving platform is developed to asymptotically recover the three-dimensional (3D) Euclidean position of static object features. The position of the moving platform is assumed to be measurable, and a second object with known 3D Euclidean coordinates relative to the world frame is considered to be available a priori. To account for the unknown camera calibration parameters and to estimate the unknown 3D Euclidean coordinates, an adaptive least squares estimation strategy is employed based on prediction error formulations and a Lyapunov-type stability analysis. The developed estimator is proven to recover the 3D Euclidean position of the unknown object features despite the lack of knowledge of the camera calibration parameters.
  • Conference Object
    Citation - WoS: 25
    Citation - Scopus: 48
    Robust Tracking Control of an Underactuated Quadrotor Aerial-Robot Based on a Parametric Uncertain Model
    (Institute of Electrical and Electronics Engineers Inc., 2009) Lee, Dongbin; Tatlıcıoğlu, Enver; Dawson, Darren M.; Shu, Dule; Xian, Bin; Tatlıcıoğlu, Enver; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    In 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 result
  • Conference Object
    Citation - WoS: 4
    Citation - Scopus: 7
    Robust Output Tracking Control of a Surface Vessel
    (Institute of Electrical and Electronics Engineers Inc., 2008) Lee, Dongbin; Tatlıcıoğlu, Enver; Tatlıcıoğlu, Enver; Burg, Timothy C.; Dawson, Darren M.; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    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: 6
    Citation - Scopus: 8
    Adaptive 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.; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    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.