Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/11

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  • Article
    Citation - WoS: 16
    Citation - Scopus: 16
    Learning Control of Robot Manipulators in Task Space
    (John Wiley and Sons Inc., 2018) Doğan, Kadriye Merve; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Çetin, Kamil
    Two important properties of industrial tasks performed by robot manipulators, namely, periodicity (i.e., repetitive nature) of the task and the need for the task to be performed by the end-effector, motivated this work. Not being able to utilize the robot manipulator dynamics due to uncertainties complicated the control design. In a seemingly novel departure from the existing works in the literature, the tracking problem is formulated in the task space and the control input torque is aimed to decrease the task space tracking error directly without making use of inverse kinematics at the position level. A repetitive learning controller is designed which “learns” the overall uncertainties in the robot manipulator dynamics. The stability of the closed-loop system and asymptotic end-effector tracking of a periodic desired trajectory are guaranteed via Lyapunov based analysis methods. Experiments performed on an in-house developed robot manipulator are presented to illustrate the performance and viability of the proposed controller.
  • Article
    Citation - WoS: 8
    Citation - Scopus: 8
    Online Time Delay Identification and Control for General Classes of Nonlinear Systems
    (SAGE Publications Inc., 2013) Bayrak, Alper; Tatlıcıoğlu, Enver
    In this study, online identification of state delays is discussed. First, a novel adaptive time delay identification technique is proposed for general classes of nonlinear systems subject to state delays. The stability of the time delay identification algorithm is analyzed via Lyapunov-based techniques. In this work, we consider the time delay as a nonlinear parameter effecting the system which is a seemingly novel departure from the existing literature. As an extension, this technique is modified to design a tracking controller for general classes of nonlinear systems subject to state delays. The main novelty of this controller is that identification of unknown state delays are ensured while output tracking objective is satisfied. Numerical simulations are conducted that demonstrate the efficiency of the time delay identification algorithm and the tracking controller.
  • Conference Object
    Citation - WoS: 3
    Citation - Scopus: 6
    Online Time Delay Identification and Control for General Classes of Nonlinear Systems
    (Institute of Electrical and Electronics Engineers Inc., 2012) Bayrak, Alper; Tatlıcıoğlu, Enver
    In this study, online identification of state delays is discussed. First, a novel adaptive time delay identification technique is proposed for general classes of autonomous nonlinear systems subject to state delays. As an extension, this technique is modified to design a tracking controller for general classes of nonlinear systems subject to state delays. The main novelty of this controller is that identification of unknown state delays is ensured while output tracking objective is satisfied. Extensive numerical simulations are presented that demonstrate the efficiency of the time delay identification algorithm and the tracking controller. © 2012 IEEE.
  • Article
    Citation - WoS: 4
    Citation - Scopus: 5
    Learning Control of Robot Manipulators in the Presence of Additive Disturbances
    (Türkiye Klinikleri Journal of Medical Sciences, 2011) Tatlıcıoğlu, Enver
    In this paper, a learning controller for robot manipulators is developed. The controller is proven to yield in a semi-global asymptotic result in the presence of additive input and output disturbances. Lyapunovbased techniques are used to guarantee that the tracking error is asymptotically driven to zero. Numerical simulation results are presented to demonstrate the viability of the proposed learning controller.
  • Article
    Citation - WoS: 43
    Citation - Scopus: 48
    Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives
    (Cambridge University Press, 2009) 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. Numerical simulation results are presented to show the validity of the proposed controller.