Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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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.Article Citation - Scopus: 1A New Robust Controller Formulation for the Full–state Feedback Position Tracking of a Small–scaled Unmanned Model Helicopter(IFAC Secretariat, 2017) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanThis work focuses on the robust attitude tracking control problem for a small– scaled unmanned helicopter where the actual system inputs, namely the elevator servo input, the aileron servo input and the rudder servo input, are used in the controller formulation. The design process is divided into two parts. Initially the problem is transformed into a second order system with an uncertain non–symmetric input gain matrix by utilizing some reasonable simplifications for the rotor model under the hovering flight conditions. Then a novel robust control methodology is utilized via a matrix decomposition method. The stability of the overall system is ensured by Lyapunov type analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed method.Article Citation - WoS: 5Citation - Scopus: 5Steady-State Analysis of Nonlinearly Coupled Chua's Circuits With Periodic Input(World Scientific Publishing Co. Pte Ltd, 2003) Savacı, Ferit Acar; Yalçın, M. E.; Güzeliş, CüneytIn this paper, nonlinearly coupled identical Chua's circuits, when driven by sinusoidal signal have been analyzed in the time-domain by using the steady-state analysis techniques of piecewise-linear dynamic systems. With such techniques, it has become possible to obtain analytical expressions for the transfer functions in terms of the circuit parameters. The proposed system under consideration has also been studied by analog simulations of the overall system on a hardware realization using off-the-shelf components as well as by a time-domain analysis of the synchronization error.Conference Object Citation - WoS: 3Citation - Scopus: 3Inverse Optimal Adaptive Output Feedback Control of Euler-Lagrange Systems: a Variable Structure Observer Based Approach(Institute of Electrical and Electronics Engineers Inc., 2015) Aksoy, Orhan; Zergeroğlu, Erkan; Tatlıcıoğlu, EnverThis work focuses on inverse optimal, observer based output feedback control of Euler-Lagrange systems. Specifically a variable structure observer based output feedback controller is proposed which aside from ensuring asymptotic position tracking also ensures that a positive cost function, penalizing control input performance, is minimized. Simulation studies performed on a two link planar robot manipulator are included to illustrate the overall performance and feasibility of the proposed controller. © 2015 IEEE.Article Citation - WoS: 9Citation - Scopus: 13Nonlinear Robust Control of Tendon–driven Robot Manipulators(Springer Verlag, 2015) Okur, Beytullah; Aksoy, Orhan; Zergeroglu, Erkan; Tatlıcıoglu, EnverThis work addresses the position tracking control problem for tendon–driven robotic mechanisms in the presence of parametric uncertainty and additive external disturbances. Specifically, a full state feedback nonlinear robust controller is proposed to tackle the link position tracking problem for tendon–driven robot manipulators with uncertain dynamical system parameters. A robust backstepping approach has been utilized to achieve uniformly ultimately bounded tracking performance despite the lack of exact knowledge of the dynamical parameters and presence of additive but bounded disturbance terms. Stability of the overall system is proven via Lyapunov based arguments. Simulation studies performed on a two link planar robot manipulator driven by a six tendon mechanism are presented to illustrate the effectiveness and viability of the proposed approach.Conference Object Citation - WoS: 2Citation - Scopus: 1A Self-Tuning Velocity Observer Formulation for a Class of Nonlinear Systems(Institute of Electrical and Electronics Engineers Inc., 2016) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanThis work presents the design and the corresponding stability analysis of a model free velocity observer formulation for nonlinear systems modeled by Euler-Lagrange formulation. The observation gains of the proposed formulation are tuned online according to an update algorithm removing the burden of observation gain tuning. Lyapunov based arguments are applied to prove the overall system stability. Performance of the observer proposed is illustrated via extensive simulation studies. Experimental studies are also utilized to demonstrate the viability of the proposed formulation.Conference Object Citation - WoS: 23Citation - Scopus: 23A self tuning RISE controller formulation(Institute of Electrical and Electronics Engineers Inc., 2014) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanIn recent years, controller formulations using robust integral of sign of error (RISE) type feedback have been successfully applied to a variety of nonlinear dynamical systems. The drawback of these type of controllers however, are (i) the need of prior knowledge of the upper bounds of the system uncertainties and (ii) the absence of a proper gain tuning methodology. To tackle the aforementioned weaknesses, in our previous work [1] we have presented a RISE formulation with a time-varying compensation gain to cope for the need of upper bound of the uncertain system. In this study, we have extended our previous design to obtain a fully self tuning RISE feedback formulation. Lyapunov based arguments are applied to prove overall system stability and extensive numerical simulation studies are presented to illustrate the performance of the proposed method. © 2014 American Automatic Control Council.Conference Object Citation - Scopus: 13Predictor-Based Robust Control of Uncertain Nonlinear Systems Subject To Input Delay(Elsevier Ltd., 2012) Obuz, Serhat; Tatlıcıoğlu, Enver; Çekiç, Sadettin Ç.; Dawson, Darren M.In this paper, a tracking controller is developed for a class of nonlinear systems subject to time delay in the control input, uncertainties in the dynamic model, and additive disturbances. The control development is based on a novel predictor-like method to address the time delay in the control input. Lyapunov based stability analysis is used to prove semi-global asymptotic tracking. © 2012 IFAC.Article Citation - WoS: 1Citation - Scopus: 3Euclidean Position Estimation of Static Features Using a Moving Uncalibrated Camera(Institute of Electrical and Electronics Engineers Inc., 2012) Nath, Nitendra; Dawson, Darren M.; Tatlıcıoğlu, EnverIn this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on amoving platform is developed to asymptotically recover the 3-D Euclidean position of static object features. The position of the moving platform is assumed to be measurable, and a second object with known 3-D Euclidean coordinates relative to theworld frame is considered to be available a priori. To account for the unknown camera calibration parameters and to estimate the unknown 3-D Euclidean coordinates, an adaptive least squares estimation strategy is employed based on prediction error formulations and a Lyapunovtype stability analysis. The developed estimator is shown to recover the 3-D Euclidean position of the unknown object features despite the lack of knowledge of the camera calibration parameters. Numerical simulation results along with experimental results are presented to illustrate the effectiveness of the proposed algorithm. © 2011 IEEE.Conference Object Citation - Scopus: 1Euclidean Position Estimation of Static Features Using a Moving Uncalibrated Camera(Institute of Electrical and Electronics Engineers Inc., 2009) Nath, Nitendra; Dawson, Darren M.; Tatlıcıoğlu, EnverIn this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on a moving platform is developed to asymptotically recover the three-dimensional (3D) Euclidean position of static object features. The position of the moving platform is assumed to be measurable, and a second object with known 3D Euclidean coordinates relative to the world frame is considered to be available a priori. To account for the unknown camera calibration parameters and to estimate the unknown 3D Euclidean coordinates, an adaptive least squares estimation strategy is employed based on prediction error formulations and a Lyapunov-type stability analysis. The developed estimator is proven to recover the 3D Euclidean position of the unknown object features despite the lack of knowledge of the camera calibration parameters.