Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
Browse
2 results
Search Results
Article Citation - WoS: 9Citation - Scopus: 13Nonlinear Robust Control of Tendon–driven Robot Manipulators(Springer Verlag, 2015) Okur, Beytullah; Aksoy, Orhan; Zergeroglu, Erkan; Tatlıcıoglu, EnverThis 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.Conference Object Citation - Scopus: 4Nonlinear Robust Control of 3 Phase Inverter With Output Lc Filter(Elsevier Ltd., 2014) Okur, Beytullah; Zergeroğlu, Erkan; Şeker, Murat; Tatlıcıoğlu, EnverThree phase inverters are commonly used to transfer energy from a source to the power grid. The quality of the power delivered to the grid, can be ensured via the use of an output LC filter. However inserting an output filter to an inverter circuitry would introduce new challenges to the controller design due to the additional parametric uncertainties imposed. In this study we present a new model based robust controller for a three phase inverter with output LC filter under the constraint that the output filter parameters are not exactly known. Specifically, d-q reference frame model of an inverter with output LC filter is used to develop a nonlinear robust controller that ensures the 3-phase output voltage with desired amplitude and frequency and with lowest harmonic distortion. Stability of the proposed method and the boundedness of the closed-loop system, is established via Lyapunov based tools in conjunction with a robust backstepping procedure. Simulation results are given in order to demonstrate performance and effectiveness of the proposed robust controller. © IFAC.