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, ErkanWoS Q: search.filters.wosQuartile.Q3

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Now showing 1 - 4 of 4
  • Article
    Citation - WoS: 5
    Citation - Scopus: 6
    An Extended Jacobian-Based Formulation for Operational Space Control of Kinematically Redundant Robot Manipulators With Multiple Subtask Objectives: An Adaptive Control Approach
    (The American Society of Mechanical Engineers(ASME), 2019) Çetin, Kamil; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In this study, an extended Jacobian matrix formulation is proposed for the operational space tracking control of kinematically redundant robot manipulators with multiple subtask objectives. Furthermore, to compensate the structured uncertainties related to the robot dynamics, an adaptive operational space controller is designed, and then, the corresponding stability analysis is presented for kinematically redundant robot manipulators. Specifically, the proposed method is concerned with not only the stability of operational space objective but also the stability of multiple subtask objectives. The combined stability analysis of the operational space objective and the subtask objectives are obtained via Lyapunov based arguments. Experimental and simulation studies are presented to illustrate the performance of the proposed method.
  • Article
    Citation - WoS: 4
    Citation - Scopus: 3
    A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems
    (The American Society of Mechanical Engineers(ASME), 2018) Deniz, Meryem; Bayrak, Alper; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In this study, the design of a smooth robust velocity observer for a class of uncertain nonlinear mechatronic systems is presented. The proposed velocity observer does not require a priori knowledge of the upper bounds of the uncertain system dynamics and introduces time-varying observer gains for uncertainty compensation. Practical stability of the velocity observation error is ensured via Lyapunov-type stability analysis. Experimental results obtained from Phantom Omni haptic device are presented to illustrate the performance of the proposed velocity observer.
  • 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.
  • Article
    Citation - WoS: 6
    Citation - Scopus: 8
    A Model Independent Observer Based Output Feedback Tracking Controller for Robotic Manipulators With Dynamical Uncertainties
    (Cambridge University Press, 2017) Zergeroğlu, Erkan; Tatlıcıoğlu, Enver; Kaleli, Egemen
    In this work, we propose the development and the corresponding stability analysis of a novel, observer-based output feedback (OFB), tracking controller for rigid-link robot manipulators. Specifically, a model-independent variable-structure-like observer in conjunction with a desired dynamic compensation technique have been utilized to remove the link velocity dependency of the controller formulation. Asymptotic stability of the observer - controller couple is then guaranteed via Lyapunov-based arguments. An adaptive controller extension is also presented to illustrate the expansiveness of the proposed scheme. Experimental studies performed on a two-link planar robot with dynamical uncertainties are included in order to demonstrate the performance and feasibility of the proposed method.