Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Department: search.filters.department.İzmir Institute of Technology. Electrical and Electronics EngineeringInstitution Author: search.filters.institutionAuthor.Tatlıcıoğlu, Enver

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Now showing 1 - 10 of 74
  • Article
    Model-free output feedback controller design for twin rotor systems
    (Muğla Sıtkı Koçman Üniversitesi, 2020) Deniz, Meryem; Tatlıcıoğlu, Enver; Bayrak, Alper
    In this work, tracking control of twin rotor systems is aimed. The control problem is restricted by the lack ofmathematical model of the twin rotor and further complicated by the unavailability of the angular velocitymeasurements. A model–free controller in conjunction with a high gain observer is designed. Experiments performed on atwin rotor system demonstrates the viability of the controller–observer couple.
  • Article
    Citation - WoS: 4
    Citation - Scopus: 5
    Toward Safe and High-Performance Human-Robot Collaboration Via Implementation of Redundancy and Understanding the Effects of Admittance Term Parameters
    (Cambridge University Press, 2022) Kanık, Mert; Ayit, Orhan; Dede, Mehmet İsmet Can; Tatlıcıoğlu, Enver
    Summary Today, demandsin industrial manufacturing mandate humans to work with large-scale industrial robots, and this collaboration may result in dangerous conditions for humans. To deal with this situation, this work proposes a novel approach for redundant large-scale industrial robots. In the proposed approach, an admittance controller is designed to regulate the interaction between the end effector of the robot and the human. Additionally, an obstacle avoidance algorithm is implemented in the null space of the robot to prevent any possible unexpected collision between the human and the links of the robot. After safety performance of this approach is verified via simulations and experimental studies, the effect of the parameters of the admittance controller on the performance of collaboration in terms of both accuracy and total human effort is investigated. This investigation is carried out via 8 experiments by the participation of 10 test subjects in which the effect of different admittance controller parameters such as mass and damper are compared. As a result of this investigation, tuning insights for such parameters are revealed.
  • Article
    Citation - WoS: 10
    Citation - Scopus: 10
    Periodic Disturbance Estimation Based Adaptive Robust Control of Marine Vehicles
    (Elsevier, 2021) Kurtoğlu, Deniz; Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    Tracking control of marine vessels in the presence of parametric uncertainty and additive periodic disturbances is considered. For optimal estimation of environmental forces, periodic disturbance estimation method inspired from Fourier series expansion have been applied. Stability of the closed–loop system and the convergence of the tracking error under the closed–loop operation are established via Lyapunov based arguments. Simulation studies are provided to support the theoretical results and the effectiveness of the proposed method. © 2020 Elsevier Ltd
  • 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.
  • Conference Object
    Citation - WoS: 15
    Citation - Scopus: 20
    Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives [proceedings Paper]
    (Institute of Electrical and Electronics Engineers Inc., 2008) 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.
  • Conference Object
    İha'lar için Gürbüz Takip Denetçisi
    (Institute of Electrical and Electronics Engineers Inc., 2013) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroǧlu, Erkan
    In this study, a nonlinear control technique that guarantee exponential output tracking for unmanned aerial vehicles subject to uncertainties in system dynamics and additive nonlinear disturbances is developed. In the literature, dynamic inversion method which is a nonlinear control technique commonly used within the aerospace community to replace aircraft dynamics with a reference model. Dynamic inversion and robust control methods were usually utilized together to compensate for the uncertainties and ensure output tracking. Review of the literature highlights the fact that, in previous works, estimate of the uncertain system matrices was used in the controller design. In our study, we removed the requirement for the estimate of the uncertain system matrices and yet still guarantee exponential tracking of a reference model.
  • Conference Object
    A New Continuous Velocity Observer Formulation for a Class of Uncertain Nonlinear Mechanical Systems
    (Institute of Electrical and Electronics Engineers, 2015) Bayrak, Alper; Tatlıcıoğlu, Enver; Zergeroǧlu, Erkan; Deniz, Meryem
    In this study, we present a smooth robust velocity observer for a class of uncertain nonlinear mechanical systems. The smoothness of the observers is guaranteed by utilizing hyperbolic tangent function as opposed to signum-type functions applied in most robust and sliding mode observers found in the literature. The proposed observer does not require a priori knowledge of an upper bound of the uncertain system dynamics and introduces a time-varying observer gain for uncertainty compensation. Practical stability of the observer error is ensured via Lyapunov-type stability analysis. Numerical simulation studies backed up by experimental results are presented to illustrate the performance of the proposed observer.
  • 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.
  • Conference Object
    Citation - WoS: 4
    Citation - Scopus: 5
    Backstepping Control of Electro-Hydraulic Arm
    (Institute of Electrical and Electronics Engineers, 2018) Bayrak, Alper; Tatlıcıoğlu, Enver; Zergeroǧlu, Erkan
    In this study, positioning control of the electro hydraulic systems is considered. Backstepping control strategy is designed by defining an auxiliary error signal. The performance of the controller is investigated by conducting numerical simulations. From the simulation results, it is seen that the control objective achieved successfully. The performance is compared with PI controller via a comparison criteria and it is seen that the backstepping controller has better results in both error and controller performance aspects.
  • Article
    Citation - WoS: 1
    Experimental Verification of Lead-Lag Compensators on a Twin Rotor System
    (De Gruyter, 2018) Deniz, Meryem; Tatlıcıoğlu, Enver; Bayrak, Alper
    Twin rotor system is a laboratory setup resembling a simplified helicopter model that moves along both horizontal and vertical axes. The literature on control of twin rotor systems reflects a good amount of research on designing PM controllers and their extensions considering several aspects, as well as onsome nonlinear controllers. However, there is almost no previous work on design of lag-lead type compensators for twin rotor systems. In this study, by considering this open research problem, lag and lead type compensators are designed and then experimentally verified on the twin rotor system. Specifically, first, lag and lag-lag compensators are designed to obtain a reduced steady state error as compared with proportional controllers. Secondly, lead compensation is discussed to obtain a reduced overshoot. Finally, lag-lead compensators are designed to make use of their favorable properties. All compensators are applied to the twin rotor system in our laboratory. From experimental studies, it was observed that steady state error was reduced when a lag compensator was used in conjunction with a lead compensator.