Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

Browse

Filters

2014 - 20174

Settings

Author: search.filters.author.Zergeroğlu, ErkanPublisher: search.filters.publisher.Elsevier Ltd.

Search Results

Now showing 1 - 4 of 4
  • 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: 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.
  • Conference Object
    Citation - Scopus: 3
    A Robust Adaptive Tracking Controller for an Aircraft With Uncertain Dynamical Terms
    (Elsevier Ltd., 2014) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    This work presents, the design and the corresponding analysis of a nonlinear controller for an aircraft system subject to uncertainties in the dynamics and additive state-dependent nonlinear disturbance-like terms. Specifically; dynamic inversion technique in conjunction with a robust integral of the signum of the error feedback and an adaptive term is utilized in the overall controller design. Lyapunov based stability analysis techniques are then utilized to prove global asymptotic convergence of the tracking error. © IFAC.
  • Conference Object
    Citation - Scopus: 4
    Nonlinear Robust Control of 3 Phase Inverter With Output Lc Filter
    (Elsevier Ltd., 2014) Okur, Beytullah; Zergeroğlu, Erkan; Şeker, Murat; Tatlıcıoğlu, Enver
    Three 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.