Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Author: search.filters.author.Zergeroğlu, ErkanSubject: search.filters.subject.Adaptive control systems

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Now showing 1 - 3 of 3
  • Article
    Citation - WoS: 10
    Citation - Scopus: 10
    Observer-Based Adaptive Output Feedback Tracking Control of Dynamically Positioned Surface Vessels
    (Springer Verlag, 2017) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In this work, we propose an observer-based adaptive output feedback tracking controller for dynamically positioned surface vessels. Specifically, to remove the velocity measurement dependency of the control formulation a nonlinear, model-free observer formulation have been proposed. The proposed observer does not make use of the system dynamics and together with the proposed controller structure ensure that the tracking error signal and the velocity estimation error asymptotically converges to zero. Stability of the closed-loop system is ensured by Lyapunov-based arguments. Simulation studies are also presented to illustrate the effectiveness of the proposed method.
  • Article
    Citation - WoS: 6
    Citation - Scopus: 7
    On Adaptive Output Feedback Controf Robotic Manipulators With Online Disturbance Estimation
    (Springer Verlag, 2017) Aksoy, Orhan; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver
    The problem of disturbance estimation and compensation for adaptive output feedback type controllers are investigated. Specifically two adaptive output feedback controllers designed for robotic manipulators are extended to compensate external disturbances which are common in robotic applications with repetitive task. The uncertain disturbance term in the robot dynamics is modeled as a fixed term plus a combination of sinusoidal signals. The overall stability and convergence of the tracking error for both controllers is ensured via Lyapunov based analysis. Extensive simulation studies are presented to illustrate the feasibility of the proposed method.
  • Conference Object
    Citation - Scopus: 1
    Robust Adaptive Control of Nonlinear Systems With Unknown State Delay
    (Institute of Electrical and Electronics Engineers Inc., 2013) Bayrak, Alper; Tatlıcıoğlu, Enver; Bıdıklı, Barış; Zergeroğlu, Erkan
    In this work, we propose a new robust adaptive controller for a class of multi-input multi-output nonlinear systems subject to uncertain state delay. The proposed method is proven to yield semi-global asymptotic tracking despite the presence of additive input and output disturbances and parametric uncertainty in the system dynamics. An adaptive desired system compensation in conjunction with a continuous nonlinear integral feedback component is utilized in the design of the controller and Lyapunov-based techniques, are used to prove that the tracking error is asymptotically driven to zero. Numerical simulation results are presented to demonstrate the effectiveness of the proposed method. © 2013 IEEE.