Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Subject: search.filters.subject.Nonlinear systemsWoS Q: search.filters.wosQuartile.N/A

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Now showing 1 - 4 of 4
  • Conference Object
    Citation - WoS: 3
    Citation - Scopus: 3
    Inverse Optimal Adaptive Output Feedback Control of Euler-Lagrange Systems: a Variable Structure Observer Based Approach
    (Institute of Electrical and Electronics Engineers Inc., 2015) Aksoy, Orhan; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver
    This work focuses on inverse optimal, observer based output feedback control of Euler-Lagrange systems. Specifically a variable structure observer based output feedback controller is proposed which aside from ensuring asymptotic position tracking also ensures that a positive cost function, penalizing control input performance, is minimized. Simulation studies performed on a two link planar robot manipulator are included to illustrate the overall performance and feasibility of the proposed controller. © 2015 IEEE.
  • 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: 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 - Scopus: 13
    Predictor-Based Robust Control of Uncertain Nonlinear Systems Subject To Input Delay
    (Elsevier Ltd., 2012) Obuz, Serhat; Tatlıcıoğlu, Enver; Çekiç, Sadettin Ç.; Dawson, Darren M.
    In this paper, a tracking controller is developed for a class of nonlinear systems subject to time delay in the control input, uncertainties in the dynamic model, and additive disturbances. The control development is based on a novel predictor-like method to address the time delay in the control input. Lyapunov based stability analysis is used to prove semi-global asymptotic tracking. © 2012 IFAC.