Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Scopus Q: search.filters.scopusQuartile.Q2Subject: search.filters.subject.Nonlinear systems

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  • Article
    Citation - WoS: 9
    Citation - Scopus: 11
    Robust Backstepping Control for a Four-Bar Linkage Mechanism Driven by a Dc Motor
    (Springer, 2019) Salah, Mohammad; Al-Jarrah, Ahmad; Banihani, Suleiman; Tatlıcıoğlu, Enver
    Four-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 - WoS: 5
    Citation - Scopus: 5
    Steady-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, Cüneyt
    In 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.
  • Article
    Citation - WoS: 9
    Citation - Scopus: 13
    Nonlinear Robust Control of Tendon–driven Robot Manipulators
    (Springer Verlag, 2015) Okur, Beytullah; Aksoy, Orhan; Zergeroglu, Erkan; Tatlıcıoglu, Enver
    This 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.