Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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2016 - 20172

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Author: search.filters.author.Zergeroğlu, ErkanSubject: search.filters.subject.Lyapunov methods

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  • 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: 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.