Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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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 - Scopus: 1Observer Based Output Feedback Control of Thrust Magnetic Bearings(Institute of Electrical and Electronics Engineers Inc., 2011) Okur, Beytullah; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver; Başaran, Sinan; Sivrioğlu, SelimIn this paper, we present an observer based output feedback controller for a thrust magnetic bearing system. A model independent variable structure like observer is used to determine the rotor velocity in order to remove the velocity dependency of the controller. The desired system dynamics have been utilized in the controller design and asymptotic stability of the observer-controller couple is guaranteed via Lyapunov based arguments. Experimental results are presented to illustrate the performance and feasibility of the proposed method. © 2011 IEEE.Conference Object Citation - WoS: 6Citation - Scopus: 8Adaptive 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, the tracking control of a three degree-of-freedom marine vessel is examined. The novelty of this work is the transformation of the asymmetric inertia matrix into a symmetric, positive definite matrix. The asymmetry arises from the added mass common to practical surface vessels and creates a significant challenge for control design. The control design is further complicated by the parametric uncertainties in the dynamic model of the vessel. Two adaptive control schemes with a projection-based adaptation law are proposed: a full-state feedback controller and an output feedback controller. Both controllers are known to yield a uniformly ultimately bounded tracking result in the presence of parametric uncertainty. Numerical simulation results are shown to demonstrate the validity of the proposed controllers.