Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Subject: search.filters.subject.Adaptive control systems

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Now showing 1 - 6 of 6
  • Conference Object
    Citation - Scopus: 5
    Adaptive Visual Servo Regulation Control for Camera-In Configuration With a Fixed Camera Extension
    (Institute of Electrical and Electronics Engineers Inc., 2007) Tatlıcıoğlu, Enver; Dawson, Darren M.; Xian, B.
    In this paper, image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed. To compensate for the unknown camera calibration parameters, a novel prediction error formulation is presented. To achieve the control objectives, a Lyapunov-based adaptive control strategy is employed. The control development for the camera-in-hand problem is presented in detail and a fixed-camera problem is included as an extension.
  • Article
    Citation - WoS: 4
    Citation - Scopus: 4
    Adaptive Visual Servo Regulation Control for Camera-In Configuration With a Fixed Camera Extension
    (ACTA Press, 2009) Tatlıcıoğlu, Enver; Dawson, Darren M.; Xian, B.
    In this paper, image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed. To compensate for the unknown camera calibration parameters, a novel prediction error formulation is presented. To achieve the control objectives, a Lyapunov-based adaptive control strategy is employed. The control development for the camera-in-hand problem is presented in detail and a fixed-camera problem is included as an extension.
  • Article
    Citation - WoS: 10
    Citation - Scopus: 10
    Observer-Based Adaptive Output Feedback Tracking Control of Dynamically Positioned Surface Vessels
    (Springer Verlag, 2017) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In this work, we propose an observer-based adaptive output feedback tracking controller for dynamically positioned surface vessels. Specifically, to remove the velocity measurement dependency of the control formulation a nonlinear, model-free observer formulation have been proposed. The proposed observer does not make use of the system dynamics and together with the proposed controller structure ensure that the tracking error signal and the velocity estimation error asymptotically converges to zero. 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.
  • Article
    Citation - WoS: 6
    Citation - Scopus: 7
    On Adaptive Output Feedback Controf Robotic Manipulators With Online Disturbance Estimation
    (Springer Verlag, 2017) Aksoy, Orhan; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver
    The problem of disturbance estimation and compensation for adaptive output feedback type controllers are investigated. Specifically two adaptive output feedback controllers designed for robotic manipulators are extended to compensate external disturbances which are common in robotic applications with repetitive task. The uncertain disturbance term in the robot dynamics is modeled as a fixed term plus a combination of sinusoidal signals. The overall stability and convergence of the tracking error for both controllers is ensured via Lyapunov based analysis. Extensive simulation studies are presented to illustrate the feasibility of the proposed method.
  • Conference Object
    Citation - Scopus: 1
    Robust Adaptive Control of Nonlinear Systems With Unknown State Delay
    (Institute of Electrical and Electronics Engineers Inc., 2013) Bayrak, Alper; Tatlıcıoğlu, Enver; Bıdıklı, Barış; Zergeroğlu, Erkan
    In this work, we propose a new robust adaptive controller for a class of multi-input multi-output nonlinear systems subject to uncertain state delay. The proposed method is proven to yield semi-global asymptotic tracking despite the presence of additive input and output disturbances and parametric uncertainty in the system dynamics. An adaptive desired system compensation in conjunction with a continuous nonlinear integral feedback component is utilized in the design of the controller and Lyapunov-based techniques, are used to prove that the tracking error is asymptotically driven to zero. Numerical simulation results are presented to demonstrate the effectiveness of the proposed method. © 2013 IEEE.
  • 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.