Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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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.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.Conference Object Citation - WoS: 3Citation - Scopus: 4Neural Network Based Repetitive Learning Control of Robot Manipulators(Institute of Electrical and Electronics Engineers Inc., 2017) Çobanoğlu, Necati; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanControl of robot manipulators performing periodic tasks is considered in this work. The control problem is complicated by presence of uncertainties in the robot manipulator's dynamic model. To address this restriction, a model free repetitive learning controller design is aimed. To reduce the heavy control effort, a neural network based compensation term is fused with the repetitive learning controller. The convergence of the tracking error to the origin is ensured via Lyapunov based techniques. Numerical simulations and experiments are performed to demonstrate the viability of the proposed controller.Conference Object Citation - WoS: 6Citation - Scopus: 7Lyapunov-Based Output Feedback Learning Control of Robot Manipulators(Institute of Electrical and Electronics Engineers Inc., 2015) Doğan, Kadriye Merve; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Çetin, KamilThis paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for periodic trajectories with known period have been proposed. The proposed learning controller guarantees semi-global asymptotic tracking despite the existence of parametric uncertainties associated with the robot dynamics and lack of velocity measurements. A learning-based feedforward term in conjunction with a novel observer formulation is designed to obtain the aforementioned result. The stability of the controller-observer couple is guaranteed via Lyapunov based arguments. Numerical studies performed on a two link robot manipulator are also presented to demonstrate the viability of the proposed method. © 2015 American Automatic Control Council.Conference Object Citation - WoS: 4Citation - Scopus: 6A Robust Tracking Controller for Dynamically Positioned Surface Vessels With Added Mass(Institute of Electrical and Electronics Engineers Inc., 2014) Bidikli, B.; Tatlicioglu, E.; Zergeroglu, E.This work concentrates on tracking control of dynamically positioned surface vessels with asymmetric added mass terms affecting the system model at the acceleration level. Specifically, we propose a novel continuous robust controller for surface vessels that, in addition to asymmetric added mass in its inertia matrix, contains unstructured uncertainties in all its system matrices. The proposed controller compensates the overall system uncertainties and ensures asymptotic tracking, while requiring only the knowledge of the sign of the leading principle minors of the input gain matrix. Lyapunov based approaches are applied in order to prove the stability of the closed-loop system and asymptotic convergence of the tracking error signal. © 2014 IEEE.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 - WoS: 6Citation - Scopus: 9Observer Based Output Feedback Tracking Control of Dynamically Positioned Surface Vessels(Institute of Electrical and Electronics Engineers Inc., 2013) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanThis work concentrates on tracking control of dynamically positioned surface vessels where only position and orientation measurements are available. Specifically, in order to remove the velocity measurement dependency of the control formulation, we designed a nonlinear, model-free observer which enables the observer-controller couple to achieve asymptotic tracking. 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. © 2013 AACC American Automatic Control Council.Article Citation - WoS: 14Citation - Scopus: 16Charge Feedback-Based Robust Position Tracking Control for Piezoelectric Actuators(Institution of Engineering and Technology, 2012) Salah, M. H.; McIntyre, M. L.; Dawson, Darren M.; Wagner, John R.; Tatlıcıoğlu, Envern this study, the Coleman-hysteresis model is utilised in the piezoelectric actuator (PZTA) dynamic model and a non-linear robust control strategy is then developed to actively control the displacement of the PZTA effective tip. The proposed control technique is designed based on the partial knowledge of the hysteresis model while the mass of the PZTA is assumed to be uncertain. The piezoelectric charge measurement is utilised in the controller design to reduce the effects of the hysteresis. Lyapunov-based stability analysis techniques are utilised to ensure that a desired displacement trajectory is accurately tracked. Representative numerical results are presented and discussed to demonstrate the tracking performance of several desired displacement trajectories with different frequencies and amplitudes. Finally, comparisons with a standard PID controller and a sliding mode controller were performed to examine the effectiveness of the proposed control design. © 2012 The Institution of Engineering and Technology.Article Citation - WoS: 36Citation - Scopus: 38Optimum Seeking-Based Non-Linear Controller To Maximise Energy Capture in a Variable Speed Wind Turbine(Institution of Engineering and Technology, 2012) Iyasere, Erhun; Salah, Mohammed; Dawson, Darren M.; Wagner, John R.; Tatlıcıoğlu, EnverIn this study, an optimum seeking-based robust non-linear controller is proposed to maximise wind energy captured by variable speed wind turbines at low-to-medium wind speeds. The proposed strategy simultaneously controls the blade pitch angle and tip-speed ratio, through the turbine rotor angular speed, to an optimal point at which the power coefficient, and hence the wind turbine efficiency, is maximum. The optimal points are given to the controller by an optimisation algorithm that seeks the unknown optimal blade pitch angle and rotor speed. The control method allows for aerodynamic rotor power maximisation without exact knowledge of the wind turbine model. A representative numerical simulation is presented to show that the wind turbine can be accurately controlled to achieve maximum energy capture. © 2012 The Institution of Engineering and Technology.Conference Object Citation - WoS: 4Citation - Scopus: 7Robust Output Tracking Control of a Surface Vessel(Institute of Electrical and Electronics Engineers Inc., 2008) Lee, Dongbin; Tatlıcıoğlu, Enver; Burg, Timothy C.; Dawson, Darren M.In this paper, tracking control of a three degree-of-freedom marine vessel is examined. The primary motivation for this work is the compensation needed for the added mass common to surface vessels, resulting in an asymmetric inertia matrix. Two control schemes are considered: a full-state feedback controller and an output feedback controller. Numerical simulation results are shown to demonstrate the validity of these proposed controllers.