Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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Conference Object Citation - Scopus: 3A Robust Adaptive Tracking Controller for an Aircraft With Uncertain Dynamical Terms(Elsevier Ltd., 2014) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanThis work presents, the design and the corresponding analysis of a nonlinear controller for an aircraft system subject to uncertainties in the dynamics and additive state-dependent nonlinear disturbance-like terms. Specifically; dynamic inversion technique in conjunction with a robust integral of the signum of the error feedback and an adaptive term is utilized in the overall controller design. Lyapunov based stability analysis techniques are then utilized to prove global asymptotic convergence of the tracking error. © IFAC.Conference Object Citation - WoS: 28Citation - Scopus: 34A New Robust 'integral of Sign of Error' Feedback Controller With Adaptive Compensation Gain(Institute of Electrical and Electronics Engineers Inc., 2013) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Bayrak, Alper; Zergeroğlu, ErkanIn this paper, a new robust integral of signum of error (RISE) feedback type controller is designed for a class of uncertain nonlinear systems. Unlike the previous versions of RISE feedback type controllers, the proposed controller does not require prior knowledge of upper bounds of the vector containing the uncertainties of the dynamical system plus desired system dynamics (and their derivatives) for the control gain selection. The aforementioned enhancement is made possible via the design of a time-varying compensation gain as opposed to a constant gain used in previous RISE feedback type controllers. Asymptotic stability of the error signals and the boundedness of the closed-loop system signals are ensured via Lyapunov based arguments. Numerical simulation studies are presented to illustrate the viability of the proposed method. ©2013 IEEE.Conference Object Citation - WoS: 9Citation - Scopus: 9Observer Based Adaptive Output Feedback Tracking Control of Robot Manipulators(Institute of Electrical and Electronics Engineers Inc., 2010) Zergeroğlu, Erkan; Tatlıcıoğlu, EnverIn this paper, we propose an observer based adaptive output feedback (OFB) tracking controller for rigid-link robot manipulators. Specifically, we used a model independent observer in conjuction with a desired compensation adaptation law (DCAL) to remove the link velocity dependency of the controller and achieved asymptotic stability of the observer-controller couple despite the uncertainties associated with the system dynamics. Lyapunov based arguments are utilized to illustrate the stability of the proposed controller. Simulation results are included to demonstrate the performance of observer-controller couple.Conference Object Citation - WoS: 10Citation - Scopus: 10Observer Based Output Feedback Tracking Control of Robot Manipulators(Institute of Electrical and Electronics Engineers Inc., 2010) Zergeroğlu, Erkan; Tatlıcıoğlu, EnverIn this paper, we developed a new observer based output feedback (OFB) tracking controller for rigid-link robot manipulators. Specifically, a model independent variable structure like observer structure in conjunction with the use of desired system dynamics in the controller design have been utilized to remove the link velocity dependency of the controller and the asymptotic stability of the observer-controller couple is then guaranteed via Lyapunov based arguments. Simulation results are included to demonstrate the observer/controller performance.