Tatlıcıoğlu, Enver
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Tatlıcıoğlu, E
Tatlicioglu, E.
Tatlicioglu, E
Tatlıcıoğlu, E.
Tatlicioglu, Enver
Tatlicioglu, E.
Tatlicioglu, E
Tatlıcıoğlu, E.
Tatlicioglu, Enver
Job Title
Email Address
envertatlicioglu@iyte.edu.tr
Main Affiliation
03.05. Department of Electrical and Electronics Engineering
Status
Former Staff
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Sustainable Development Goals
1NO POVERTY
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2ZERO HUNGER
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3GOOD HEALTH AND WELL-BEING
2
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4QUALITY EDUCATION
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5GENDER EQUALITY
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6CLEAN WATER AND SANITATION
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7AFFORDABLE AND CLEAN ENERGY
2
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8DECENT WORK AND ECONOMIC GROWTH
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9INDUSTRY, INNOVATION AND INFRASTRUCTURE
12
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10REDUCED INEQUALITIES
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11SUSTAINABLE CITIES AND COMMUNITIES
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12RESPONSIBLE CONSUMPTION AND PRODUCTION
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13CLIMATE ACTION
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14LIFE BELOW WATER
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15LIFE ON LAND
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16PEACE, JUSTICE AND STRONG INSTITUTIONS
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Documents
141
Citations
1254
h-index
18
This researcher does not have a WoS ID.
Scholarly Output
102
Articles
42
Views / Downloads
115110/46243
Supervised MSc Theses
8
Supervised PhD Theses
4
WoS Citation Count
658
Scopus Citation Count
856
Patents
0
Projects
3
WoS Citations per Publication
6.45
Scopus Citations per Publication
8.39
Open Access Source
92
Supervised Theses
12
| Journal | Count |
|---|---|
| Robotica | 5 |
| International Journal of Systems Science | 4 |
| IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 | 4 |
| International Journal of Robotics and Automation | 4 |
| IFAC Proceedings Volumes | 3 |
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102 results
Scholarly Output Search Results
Now showing 1 - 10 of 102
Article Citation - WoS: 10Citation - Scopus: 11A novel online adaptive time delay identification technique(Taylor and Francis Ltd., 2016) Bayrak, Alper; Tatlıcıoğlu, EnverTime delay is a phenomenon which is common in signal processing, communication, control applications, etc. The special feature of time delay that makes it attractive is that it is a commonly faced problem in many systems. A literature search on time-delay identification highlights the fact that most studies focused on numerical solutions. In this study, a novel online adaptive time-delay identification technique is proposed. This technique is based on an adaptive update law through a minimum-maximum strategy which is firstly applied to time-delay identification. In the design of the adaptive identification law, Lyapunov-based stability analysis techniques are utilised. Several numerical simulations were conducted with Matlab/Simulink to evaluate the performance of the proposed technique. It is numerically demonstrated that the proposed technique works efficiently in identifying both constant and disturbed time delays, and is also robust to measurement noise.Article Citation - WoS: 6Citation - Scopus: 8A Model Independent Observer Based Output Feedback Tracking Controller for Robotic Manipulators With Dynamical Uncertainties(Cambridge University Press, 2017) Zergeroğlu, Erkan; Tatlıcıoğlu, Enver; Kaleli, EgemenIn this work, we propose the development and the corresponding stability analysis of a novel, observer-based output feedback (OFB), tracking controller for rigid-link robot manipulators. Specifically, a model-independent variable-structure-like observer in conjunction with a desired dynamic compensation technique have been utilized to remove the link velocity dependency of the controller formulation. Asymptotic stability of the observer - controller couple is then guaranteed via Lyapunov-based arguments. An adaptive controller extension is also presented to illustrate the expansiveness of the proposed scheme. Experimental studies performed on a two-link planar robot with dynamical uncertainties are included in order to demonstrate the performance and feasibility of the proposed method.Doctoral Thesis Control of Redundant Robot Manipulators With Telerobotic Applications(Izmir Institute of Technology, 2016) Çetin, Kamil; Tatlıcıoğlu, EnverThis thesis focuses on task-space control of kinematically redundant robot manipulators with telerobotic applications. The first aim is to design asymptotically stable sub-task controllers for kinematically redundant robot manipulators subject to parametric uncertainties in their dynamics. Initially, a novel combined analysis of the task-space tracking and sub-task controllers is performed for redundant robots having only one extra degree of freedom. Next, an extended task-space controller is designed by integrating manipulator Jacobian with the sub-task Jacobian. Both controllers ensure task-space tracking and sub-task objectives at the amount of redundant degree of freedom. As the second aim, two robust control methods are proposed for task-space tracking of robot manipulators. First, a novel continuous robust controller is designed despite dynamic model and Jacobian uncertainties to ensure asymptotic task-space tracking while requiring measurements of joint positions and velocities. Then, a robust output feedback controller is proposed to ensure ultimately bounded task-space tracking requiring neither measurements of joint positions or velocities nor accurate knowledge of kinematic and dynamic models. The third aim is to develop a passive decomposition method for task-space control of bilateral teleoperation systems. The proposed method ensures coordination of master and slave robots while achieving a desired overall motion for the bilateral teleoperation system. The proposed method is firstly considered for teleoperation systems consisting of kinematically similar master and slave robots, then extended to be applicable to kinematically redundant teleoperation systems. Simulation and experimental studies are performed to present the viability of the proposed methods.Master Thesis Compliance Control of Shad Redundant Robot(Izmir Institute of Technology, 2018) Kanık, Mert; Dede, Mehmet İsmet Can; Tatlıcıoğlu, EnverSHAD robot, which is located in IYTE Robotics Laboratory, is designed as a 4 degrees-of-freedom manipulator which has a PRRR serial kinematic structure. The prismatic joint works along the vertical axis, and the revolute joints rotate about the vertical axis. Although the positioning task on the plane can be executed by two revolute joints, SHAD robot is designed to be kinematically redundant using three revolute joints. SHAD name is the abbreviations for SHoulder Haptic Device. The manipulator is constructed by using industrial servomotors coupled with high reduction ratio gears. Hence, this robot can only be used as a haptic device if admittance control is implemented for its control scheme. Accordingly, the aim of this study is to implement and test the admittance control algorithm on SHAD robot. However, since a human operator uses this haptic device when he/she is placed inside the workspace, certain safety precautions should be implemented. Therefore, initially, exploiting the kinematic redundancy of SHAD robot, an obstacle avoidance algorithm to move the robot’s links away from the human operator is implemented and tested in simulations and experiments. To do this; (1) SHAD’s mathematical model is derived, (2) This model is verified, and obstacle avoidance algorithm is validated by simulation tests in MATLAB/Simulink, (3) SHAD robot’s experimental setup is developed, (4) Experimental tests for obstacle avoidance are conducted. After the obstacle avoidance algorithm is implemented in the control of SHAD and proven that it works, admittance control experiments are carried out on human subjects to investigate the effects of the admittance term parameters, mass and damper, on certain performance metrics of the user. It is deduced that; (1) as the mass parameter of the admittance term is increased, accuracy of the operation is decreased while the total effort of the user is increased, (2) as the damper parameter of the admittance term is increased, both the accuracy of the operation and the total effort of the user are increased, (3) when the same corner frequency with different admittance term parameters are used, the accuracy of the operation is almost the same but total effort increases as the parameters increase.Article Citation - WoS: 4Citation - Scopus: 4Adaptive 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: 2Citation - Scopus: 3On Null-Space Control of Kinematically Redundant Robot Manipulators(Institute of Electrical and Electronics Engineers Inc., 2016) Çetin, Kamil; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanIn 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.Article Citation - WoS: 9Citation - Scopus: 13Nonlinear Robust Control of Tendon–driven Robot Manipulators(Springer Verlag, 2015) Okur, Beytullah; Aksoy, Orhan; Zergeroglu, Erkan; Tatlıcıoglu, EnverThis 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.Conference Object Citation - Scopus: 5Adaptive 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: 17Citation - Scopus: 19Sensing of the Time-Varying Angular Rate for Mems Z-Axis Gyroscopes(Elsevier Ltd., 2010) Salah, M. H.; McIntyre, M. L.; Dawson, Darren M.; Wagner, John R.; Tatlıcıoğlu, EnverIn this paper, a nonlinear estimation strategy for sensing the time-varying angular rate of a Z-axis MEMS gyroscope is presented. An off-line adaptive least-squares estimation strategy is first developed to accurately estimate the unknown model parameters. Both axes of a Z-axis MEMS gyroscope are then actively controlled utilizing an on-line controller/observer to facilitate time-varying angular rate sensing. The proposed nonlinear estimation strategy is developed based on a Lyapunov-based analysis, which proves that the time-varying angular rate experienced by the device can be estimated accurately. Two cases for angular rate are investigated which are time-varying and constant magnitudes. An adaptive controller/observer was also utilized for sensing the angular rate to investigate the performance of the proposed controller/observer. Representative numerical results are discussed to demonstrate the performance of the proposed nonlinear strategy in accurately sensing the applied angular rate. Overall, the proposed nonlinear controller/observer improves sensing the constant angular rate by 50% and the time-varying angular rate by 90% when compared with an adaptive controller/observer. © 2010 Elsevier B.V. All rights reserved.Conference Object Neuroboscope Sisteminin Model Tabanlı Sınaması(Otomatik Kontrol Türk Milli Komitesi, 2016) Uzun, Bengisu; Ayav, Tolga; Dede, Mehmet İsmet Can; Berker, Mustafa; Işıkay, İlkay; Hanalioğlu, Şahin; Özdemirel, Barbaros; Kiper, Gökhan; Tatlıcıoğlu, Enver; Maaroof, Omar W.; Işıtman, Oğulcan; Ateş, Gizem; Yaşır, AbdullahNeuRoboScope projesinde, endoskopik hipofiz cerrahisinde kullanılan optik-kamera sisteminin, cerrahın kullandığı cerrahi aletleri takip ederek yönlendirilmesini amaçlayan emniyet kritik bir sistemin tasarlanması amaçlanmıştır. Bu bildiri, sistem gereksinimleri üzerinden tüm sistemin modellenmesini ve oluşturulan bu modelin sınanmasını ele almaktadır. Böylece, tasarım evresinden önce tasarımın dayanağı olan sistem gereksinimlerinin doğrulanması hedeflenmiştir. Sistem bir zamanlı otomat ağı olarak modellenmiş ve UPPAAL model sınama aracı kullanılarak, sistemin başta emniyet kritik olmak üzere diğer önemli özellikleri sınanmıştır.