Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Access Right: Open AccessAuthor: search.filters.author.Zergeroglu, Erkan

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  • Article
    Citation - WoS: 5
    Citation - Scopus: 5
    Robust Output Tracking Control of an Unmanned Aerial Vehicle Subject To Additive State Dependent Disturbance
    (Institution of Engineering and Technology, 2016) Tanyer, İlker; Tatlıcıoglu, Enver; Zergeroglu, Erkan; Deniz, Meryem; Bayrak, Alper; Özdemirel, Barbaros
    In this study, an asymptotic tracking controller is developed for an aircraft model subject to additive, state-dependent, non-linear disturbance-like terms. Dynamic inversion technique in conjunction with robust integral of the sign of the error term is utilised in the controller design. Compared to the previous studies, the need of acceleration measurements of the aircraft have been removed. In addition, the proposed controller design utilises only the output of aircraft dynamics. Lyapunov based analysis is applied to prove global asymptotic convergence of the tracking error signal. Numerical simulation results are presented to illustrate the performance of the proposed robust controller.
  • 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.