Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Now showing 1 - 10 of 13
  • Conference Object
    Citation - WoS: 3
    Citation - Scopus: 4
    Neural Network Based Repetitive Learning Control of Robot Manipulators
    (Institute of Electrical and Electronics Engineers Inc., 2017) Çobanoğlu, Necati; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    Control of robot manipulators performing periodic tasks is considered in this work. The control problem is complicated by presence of uncertainties in the robot manipulator's dynamic model. To address this restriction, a model free repetitive learning controller design is aimed. To reduce the heavy control effort, a neural network based compensation term is fused with the repetitive learning controller. The convergence of the tracking error to the origin is ensured via Lyapunov based techniques. Numerical simulations and experiments are performed to demonstrate the viability of the proposed controller.
  • Conference Object
    Citation - WoS: 2
    Citation - Scopus: 3
    On Null-Space Control of Kinematically Redundant Robot Manipulators
    (Institute of Electrical and Electronics Engineers Inc., 2016) Çetin, Kamil; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In this study, we consider the null-space control problem of redundant robot manipulators. Specifically for robot manipulators with kinematically redundancy where at least one extra degree of freedom is present, we introduce a sub-task controller that will ensure the use of the extra degrees of freedom for possible control purposes while still ensuring the main objective. The stability of the main (end-effector tracking) and sub-task objectives are obtained via Lyapunov based arguments. Extension to adaptive controller formulation for robotic devices with uncertain system dynamics is also presented. Numerical studies for the adaptive controller are presented to illustrate the liability of the proposed method.
  • Conference Object
    Citation - WoS: 2
    Citation - Scopus: 1
    A Self-Tuning Velocity Observer Formulation for a Class of Nonlinear Systems
    (Institute of Electrical and Electronics Engineers Inc., 2016) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    This work presents the design and the corresponding stability analysis of a model free velocity observer formulation for nonlinear systems modeled by Euler-Lagrange formulation. The observation gains of the proposed formulation are tuned online according to an update algorithm removing the burden of observation gain tuning. Lyapunov based arguments are applied to prove the overall system stability. Performance of the observer proposed is illustrated via extensive simulation studies. Experimental studies are also utilized to demonstrate the viability of the proposed formulation.
  • Conference Object
    Citation - WoS: 3
    Citation - Scopus: 5
    Robust Control Design for Positioning of an Unactuated Surface Vessel
    (Institute of Electrical and Electronics Engineers Inc., 2015) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In this paper, a robust controller is designed to achieve accurate positioning of an unactuated surface vessel by using multiple unidirectional tugboats. After initially locating opposing tugboats to specific configurations, the control problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Upon applying a matrix decomposition, a robust controller is proposed. Detailed stability analysis ensured asymptotic tracking. Numerical simulation results demonstrate the efficiency of the proposed controller © 2015 IEEE.
  • Conference Object
    Citation - WoS: 6
    Citation - Scopus: 7
    Lyapunov-Based Output Feedback Learning Control of Robot Manipulators
    (Institute of Electrical and Electronics Engineers Inc., 2015) Doğan, Kadriye Merve; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Çetin, Kamil
    This 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: 3
    A Robust Adaptive Tracking Controller for an Aircraft With Uncertain Dynamical Terms
    (Elsevier Ltd., 2014) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    This 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: 23
    Citation - Scopus: 23
    A self tuning RISE controller formulation
    (Institute of Electrical and Electronics Engineers Inc., 2014) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In recent years, controller formulations using robust integral of sign of error (RISE) type feedback have been successfully applied to a variety of nonlinear dynamical systems. The drawback of these type of controllers however, are (i) the need of prior knowledge of the upper bounds of the system uncertainties and (ii) the absence of a proper gain tuning methodology. To tackle the aforementioned weaknesses, in our previous work [1] we have presented a RISE formulation with a time-varying compensation gain to cope for the need of upper bound of the uncertain system. In this study, we have extended our previous design to obtain a fully self tuning RISE feedback formulation. Lyapunov based arguments are applied to prove overall system stability and extensive numerical simulation studies are presented to illustrate the performance of the proposed method. © 2014 American Automatic Control Council.
  • Conference Object
    Citation - WoS: 28
    Citation - Scopus: 34
    A 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, Erkan
    In 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 - Scopus: 1
    A Robust Dynamic Inversion Technique for Asymptotic Tracking Control of an Aircraft
    (Institute of Electrical and Electronics Engineers Inc., 2013) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In this paper, a tracking controller is developed for an aircraft model subject to uncertainties in the dynamics and additive state-dependent nonlinear disturbance-like terms. In the design of the controller, dynamic inversion technique is utilized in conjuction with a robust term. Only the output of aircraft dynamics is utilized in the controller design and acceleration measurements are not required. Lyapunov based stability analysis is used to prove global asymptotic tracking. © 2013 IEEE.
  • Conference Object
    Filter-based control for parallel plate micro electrostatic actuators
    (Institute of Electrical and Electronics Engineers Inc., 2011) Salah, Mohammed H.; Bayrak, Alper; Tatlıcıoğlu, Enver
    In this paper, a filter-based nonlinear control strategy for parallel-plate micro electrostatic actuators is designed. The proposed control technique utilizes the measurements of the micro actuator's movable plate displacement and the device internal charge. The information of the micro actuator's movable plate velocity is utilized as well in the control synthesis but since it is difficult to be measured, filtered signals are designed and utilized to facilitate the control development. A Lyapunov-based analysis is presented which proves that a desired time-varying displacement of the micro actuator's movable plate is accurately tracked. The proposed nonlinear controller is capable of controlling the movable plate beyond the pull-in boundary that is one third of the capacitive gap. Representative numerical simulations are introduced to demonstrate the performance of the proposed filter-based nonlinear control strategy in accurately tracking the deflection of the micro electrostatic movable plate within the entire capacitive gap. Finally, a comparison with a standard PID controller is also presented to demonstrate the effectiveness of the proposed control design. © 2011 IEEE.