Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Author: search.filters.author.Tatlıcıoğlu, EnverWoS Q: search.filters.wosQuartile.Q1

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Now showing 1 - 9 of 9
  • Article
    Citation - WoS: 39
    Citation - Scopus: 43
    Self-Adjusting Fuzzy Logic Based Control of Robot Manipulators in Task Space
    (Institute of Electrical and Electronics Engineers Inc., 2021) Yılmaz, Bayram Melih; Tatlıcıoğlu, Enver; Savran, Aydoğan; Alcı, Musa
    End effector tracking control of robot manipulators subject to dynamical uncertainties is the main objective of this work. Direct task space control that aims minimizing the end effector tracking error directly is preferred. In the open loop error system, the vector that depends on uncertain dynamical terms is modeled via a fuzzy logic network and a self-adjusting adaptive fuzzy logic component is designed as part of the nonlinear proportional derivative based control input torque. The stability of the closed loop system is investigated via Lyapunov based arguments and practical tracking is proven. The viability of the proposed control strategy is shown with experimental results. Extensions to uncertain Jacobian case and kinematically redundant robots are also presented. IEEE
  • Article
    Citation - WoS: 10
    Citation - Scopus: 10
    Periodic Disturbance Estimation Based Adaptive Robust Control of Marine Vehicles
    (Elsevier, 2021) Kurtoğlu, Deniz; Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    Tracking 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 Ltd
  • Article
    Citation - WoS: 14
    Citation - Scopus: 15
    Compensating of Added Mass Terms in Dynamically Positioned Surface Vehicles: a Continuous Robust Control Approach
    (Elsevier Ltd., 2017) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In 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 method
  • Article
    Citation - WoS: 11
    Citation - Scopus: 11
    Model Reference Tracking Control of an Aircraft: a Robust Adaptive Approach
    (Taylor and Francis Ltd., 2017) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    This work presents the design and the corresponding analysis of a nonlinear robust adaptive controller for model reference tracking of an aircraft that has parametric uncertainties in its system matrices and additive state- and/or time-dependent nonlinear disturbance-like terms in its dynamics. Specifically, robust integral of the sign of the error feedback term and an adaptive term is fused with a proportional integral controller. Lyapunov-based stability analysis techniques are utilised to prove global asymptotic convergence of the output tracking error. Extensive numerical simulations are presented to illustrate the performance of the proposed robust adaptive controller.
  • Article
    Citation - WoS: 30
    Citation - Scopus: 35
    Robust Dynamic Positioning of Surface Vessels Via Multiple Unidirectional Tugboats
    (Elsevier Ltd., 2016) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In 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: 14
    Citation - Scopus: 20
    Non-Linear Control of Variable-Speed Wind Turbines With Permanent Magnet Synchronous Generators: a Robust Backstepping Approach
    (Taylor and Francis Ltd., 2016) Şeker, Murat; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver
    In this study, a robust backstepping approach for the control problem of the variable-speed wind turbine with a permanent magnet synchronous generator is presented. Specifically, to overcome the negative effects of parametric uncertainties in both mechanical and electrical subsystems, a robust controller with a differentiable compensation term is proposed. The proposed methodology ensures the generator velocity tracking error to uniformly approach a small bound where practical tracking is achieved. Stability of the overall system is ensured by Lyapunov-based arguments. Comparative simulation studies with a standard proportional-integral-type controller are performed to illustrate the effectiveness, feasibility and efficiency of the proposed controller. © 2015 Taylor & Francis.
  • Article
    Citation - WoS: 4
    Citation - Scopus: 5
    An 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, Alper
    In 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.
  • Conference Object
    Citation - Scopus: 1
    Range Identification for Nonlinear Parameterizable Paracatadioptric Systems
    (Institute of Electrical and Electronics Engineers Inc., 2009) Nath, Nitendra; Dawson, Darren M.; Tatlıcıoğlu, Enver
    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.
  • Article
    Citation - WoS: 10
    Citation - Scopus: 11
    A novel online adaptive time delay identification technique
    (Taylor and Francis Ltd., 2016) Bayrak, Alper; Tatlıcıoğlu, Enver
    Time delay is a phenomenon which is common in signal processing, communication, control applications, etc. The special feature of time delay that makes it attractive is that it is a commonly faced problem in many systems. A literature search on time-delay identification highlights the fact that most studies focused on numerical solutions. In this study, a novel online adaptive time-delay identification technique is proposed. This technique is based on an adaptive update law through a minimum-maximum strategy which is firstly applied to time-delay identification. In the design of the adaptive identification law, Lyapunov-based stability analysis techniques are utilised. Several numerical simulations were conducted with Matlab/Simulink to evaluate the performance of the proposed technique. It is numerically demonstrated that the proposed technique works efficiently in identifying both constant and disturbed time delays, and is also robust to measurement noise.