Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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Conference Object Citation - Scopus: 5Adaptive Visual Servo Regulation Control for Camera-In Configuration With a Fixed Camera Extension(Institute of Electrical and Electronics Engineers Inc., 2007) Tatlıcıoğlu, Enver; Dawson, Darren M.; Xian, B.In this paper, image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed. To compensate for the unknown camera calibration parameters, a novel prediction error formulation is presented. To achieve the control objectives, a Lyapunov-based adaptive control strategy is employed. The control development for the camera-in-hand problem is presented in detail and a fixed-camera problem is included as an extension.Conference Object Citation - WoS: 15Citation - Scopus: 20Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives [proceedings Paper](Institute of Electrical and Electronics Engineers Inc., 2008) Tatlıcıoğlu, Enver; Braganza, David; Burg, Timothy C.; Dawson, Darren M.In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general sub-task controller for self-motion control. The control objectives are achieved by designing a feedback linearizing controller that includes a least-squares estimation algorithm to compensate for the parametric uncertainties.Conference Object İha'lar için Gürbüz Takip Denetçisi(Institute of Electrical and Electronics Engineers Inc., 2013) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroǧlu, ErkanIn this study, a nonlinear control technique that guarantee exponential output tracking for unmanned aerial vehicles subject to uncertainties in system dynamics and additive nonlinear disturbances is developed. In the literature, dynamic inversion method which is a nonlinear control technique commonly used within the aerospace community to replace aircraft dynamics with a reference model. Dynamic inversion and robust control methods were usually utilized together to compensate for the uncertainties and ensure output tracking. Review of the literature highlights the fact that, in previous works, estimate of the uncertain system matrices was used in the controller design. In our study, we removed the requirement for the estimate of the uncertain system matrices and yet still guarantee exponential tracking of a reference model.Conference Object A New Continuous Velocity Observer Formulation for a Class of Uncertain Nonlinear Mechanical Systems(Institute of Electrical and Electronics Engineers, 2015) Bayrak, Alper; Tatlıcıoğlu, Enver; Zergeroǧlu, Erkan; Deniz, MeryemIn this study, we present a smooth robust velocity observer for a class of uncertain nonlinear mechanical systems. The smoothness of the observers is guaranteed by utilizing hyperbolic tangent function as opposed to signum-type functions applied in most robust and sliding mode observers found in the literature. The proposed observer does not require a priori knowledge of an upper bound of the uncertain system dynamics and introduces a time-varying observer gain for uncertainty compensation. Practical stability of the observer error is ensured via Lyapunov-type stability analysis. Numerical simulation studies backed up by experimental results are presented to illustrate the performance of the proposed observer.Article Citation - WoS: 4Citation - Scopus: 4Adaptive Visual Servo Regulation Control for Camera-In Configuration With a Fixed Camera Extension(ACTA Press, 2009) Tatlıcıoğlu, Enver; Dawson, Darren M.; Xian, B.In this paper, image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed. To compensate for the unknown camera calibration parameters, a novel prediction error formulation is presented. To achieve the control objectives, a Lyapunov-based adaptive control strategy is employed. The control development for the camera-in-hand problem is presented in detail and a fixed-camera problem is included as an extension.Conference Object Citation - WoS: 4Citation - Scopus: 5Backstepping Control of Electro-Hydraulic Arm(Institute of Electrical and Electronics Engineers, 2018) Bayrak, Alper; Tatlıcıoğlu, Enver; Zergeroǧlu, ErkanIn this study, positioning control of the electro hydraulic systems is considered. Backstepping control strategy is designed by defining an auxiliary error signal. The performance of the controller is investigated by conducting numerical simulations. From the simulation results, it is seen that the control objective achieved successfully. The performance is compared with PI controller via a comparison criteria and it is seen that the backstepping controller has better results in both error and controller performance aspects.Article Citation - WoS: 1Experimental Verification of Lead-Lag Compensators on a Twin Rotor System(De Gruyter, 2018) Deniz, Meryem; Tatlıcıoğlu, Enver; Bayrak, AlperTwin rotor system is a laboratory setup resembling a simplified helicopter model that moves along both horizontal and vertical axes. The literature on control of twin rotor systems reflects a good amount of research on designing PM controllers and their extensions considering several aspects, as well as onsome nonlinear controllers. However, there is almost no previous work on design of lag-lead type compensators for twin rotor systems. In this study, by considering this open research problem, lag and lead type compensators are designed and then experimentally verified on the twin rotor system. Specifically, first, lag and lag-lag compensators are designed to obtain a reduced steady state error as compared with proportional controllers. Secondly, lead compensation is discussed to obtain a reduced overshoot. Finally, lag-lead compensators are designed to make use of their favorable properties. All compensators are applied to the twin rotor system in our laboratory. From experimental studies, it was observed that steady state error was reduced when a lag compensator was used in conjunction with a lead compensator.Article Citation - WoS: 4Citation - Scopus: 7On Operational Space Tracking Control of Robotic Manipulators With Uncertain Dynamic and Kinematic Terms(American Society of Mechanical Engineers, 2019) Çetin, Kamil; Tatlıcıoğlu, Enver; Zergeroǧlu, ErkanIn this study, a continuous robust-adaptive operational space controller that ensures asymptotic end-effector tracking, despite the uncertainties in robot dynamics and on the velocity level kinematics of the robot, is proposed. Specifically, a smooth robust controller is applied to compensate the parametric uncertainties related to the robot dynamics while an adaptive update algorithm is used to deal with the kinematic uncertainties. Rather than formulating the tracking problem in the joint space, as most of the previous works on the field have done, the controller formulation is presented in the operational space of the robot where the actual task is performed. Additionally, the robust part of the proposed controller is continuous ensuring the asymptotic tracking and relatively smooth controller effort. The stability of the overall system and boundedness of the closed loop signals are ensured via Lyapunov based arguments. Experimental results are presented to illustrate the feasibility and performance of the proposed method.Article Citation - WoS: 5Citation - Scopus: 6An 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, ErkanIn 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: 9Citation - Scopus: 11Robust Backstepping Control for a Four-Bar Linkage Mechanism Driven by a Dc Motor(Springer, 2019) Salah, Mohammad; Al-Jarrah, Ahmad; Banihani, Suleiman; Tatlıcıoğlu, EnverFour-bar linkage mechanisms have dragged the attention of many specialists due to its importance in the academic and industrial sectors. Hence, a lot of research work has been conducted to understand their complex behavior and explore various control techniques. In fact, such mechanisms possess highly nonlinear dynamics that require advanced nonlinear control methods. In addition, the four-bar linkage mechanism is exposed to significant dynamic fluctuations at high speeds due to the system inertias. In this paper, a backstepping control algorithm with a robust scheme is designed and applied on the four-bar linkage mechanism to investigate and explore its dynamical performance under various operating conditions and without a priori knowledge of the model parameters. Five operating conditions are introduced and tested in numerical simulations to show that the proposed nonlinear controller successfully regulates and tracks the speed of the driving link of the mechanism and shows a satisfactory performance.