Publications of Enver Tatlıcıoğlu
Journal Articles |
Salah, Mohammad; Al-Jarrah, Ahmad; Tatlicioglu, Enver; Banihani, Suleiman Robust Backstepping Control for a Four-Bar Linkage Mechanism Driven by a DC Motor Journal Article Journal of Intelligent and Robotic Systems: Theory and Applications, 2019, ISSN: 15730409. @article{Salah2019, title = {Robust Backstepping Control for a Four-Bar Linkage Mechanism Driven by a DC Motor}, author = {Mohammad Salah and Ahmad Al-Jarrah and Enver Tatlicioglu and Suleiman Banihani}, doi = {10.1007/s10846-018-0811-y}, issn = {15730409}, year = {2019}, date = {2019-01-01}, journal = {Journal of Intelligent and Robotic Systems: Theory and Applications}, abstract = {textcopyright 2018 Springer Science+Business Media B.V., part of Springer Nature Four-bar linkage mechanisms have dragged the attention of many specialists due to its importance in the academic and industrial sectors. Hence, a lot of research work has been conducted to understand their complex behavior and explore various control techniques. In fact, such mechanisms possess highly nonlinear dynamics that require advanced nonlinear control methods. In addition, the four-bar linkage mechanism is exposed to significant dynamic fluctuations at high speeds due to the system inertias. In this paper, a backstepping control algorithm with a robust scheme is designed and applied on the four-bar linkage mechanism to investigate and explore its dynamical performance under various operating conditions and without a priori knowledge of the model parameters. Five operating conditions are introduced and tested in numerical simulations to show that the proposed nonlinear controller successfully regulates and tracks the speed of the driving link of the mechanism and shows a satisfactory performance.}, keywords = {}, pubstate = {published}, tppubtype = {article} } textcopyright 2018 Springer Science+Business Media B.V., part of Springer Nature Four-bar linkage mechanisms have dragged the attention of many specialists due to its importance in the academic and industrial sectors. Hence, a lot of research work has been conducted to understand their complex behavior and explore various control techniques. In fact, such mechanisms possess highly nonlinear dynamics that require advanced nonlinear control methods. In addition, the four-bar linkage mechanism is exposed to significant dynamic fluctuations at high speeds due to the system inertias. In this paper, a backstepping control algorithm with a robust scheme is designed and applied on the four-bar linkage mechanism to investigate and explore its dynamical performance under various operating conditions and without a priori knowledge of the model parameters. Five operating conditions are introduced and tested in numerical simulations to show that the proposed nonlinear controller successfully regulates and tracks the speed of the driving link of the mechanism and shows a satisfactory performance. |
Cetin, Kamil; Tatlicioglu, Enver; Zergeroglu, Erkan Journal of Dynamic Systems, Measurement, and Control, 2019, ISSN: 0022-0434. @article{Cetin2019, title = {An Extended Jacobian-Based Formulation for Operational Space Control of Kinematically Redundant Robot Manipulators With Multiple Subtask Objectives: An Adaptive Control Approach}, author = {Kamil Cetin and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1115/1.4042464}, issn = {0022-0434}, year = {2019}, date = {2019-01-01}, journal = {Journal of Dynamic Systems, Measurement, and Control}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Deniz, Meryem; Tatlicioglu, Enver; Bayrak, Alper Experimental Verification of Lead-Lag Compensators on a Twin Rotor System Journal Article Electrical, Control and Communication Engineering, 2019. @article{Deniz2019, title = {Experimental Verification of Lead-Lag Compensators on a Twin Rotor System}, author = {Meryem Deniz and Enver Tatlicioglu and Alper Bayrak}, doi = {10.2478/ecce-2018-0020}, year = {2019}, date = {2019-01-01}, journal = {Electrical, Control and Communication Engineering}, abstract = {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 PID 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.}, keywords = {}, pubstate = {published}, tppubtype = {article} } 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 PID 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. |
Dogan, KM; Tatlicioglu, E; Zergeroglu, E; Cetin, K Learning control of robot manipulators in task space Journal Article Asian Journal of Control, 20 (3), pp. 1003–1013, 2018. @article{pop00049b, title = {Learning control of robot manipulators in task space}, author = {KM Dogan and E Tatlicioglu and E Zergeroglu and K Cetin}, year = {2018}, date = {2018-01-01}, journal = {Asian Journal of Control}, volume = {20}, number = {3}, pages = {1003--1013}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Dede, MİC; Kiper, G; Ayav, T; Tatlıcıoğlu, E; Özdemirel, B; Maaroof, O; Ateş, G; ..., Cerrahın anlık yönlendirilebildiği robot yardımlı endoskop kontrol sistemi mimarisi-NeuRoboScope Journal Article Boğaziçi Üniversitesi, 2018. @article{pop00064b, title = {Cerrahın anlık yönlendirilebildiği robot yardımlı endoskop kontrol sistemi mimarisi-NeuRoboScope}, author = {MİC Dede and G Kiper and T Ayav and E Tatlıcıoğlu and B Özdemirel and O Maaroof and G Ateş and ...}, year = {2018}, date = {2018-01-01}, journal = {Boğaziçi Üniversitesi}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Cetin, Kamil; Tatlicioglu, Enver; Zergeroglu, Erkan On Operational Space Tracking Control of Robotic Manipulators With Uncertain Dynamic and Kinematic Terms Journal Article Journal of Dynamic Systems, Measurement, and Control, 2018, ISSN: 0022-0434. @article{Cetin2018, title = {On Operational Space Tracking Control of Robotic Manipulators With Uncertain Dynamic and Kinematic Terms}, author = {Kamil Cetin and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1115/1.4041008}, issn = {0022-0434}, year = {2018}, date = {2018-01-01}, journal = {Journal of Dynamic Systems, Measurement, and Control}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
BAYRAK, A; TATLICIOGLU, E; ZERGEROGLU, E Backstepping Control of Electro-Hydraulic Arm Journal Article 2018 6th International Conference on Control Engineering & Information …, 2018. @article{pop00078b, title = {Backstepping Control of Electro-Hydraulic Arm}, author = {A BAYRAK and E TATLICIOGLU and E ZERGEROGLU}, year = {2018}, date = {2018-01-01}, journal = {2018 6th International Conference on Control Engineering & Information …}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Cobanoglu, N; Çetin, K; Tatlicioglu, E; Zergeroglu, E A dynamic model free observer based output feedback tracking control of robot manipulators in task-space Journal Article 2018 Annual American Control Conference (ACC), pp. 2121–2126, 2018. @article{pop00079, title = {A dynamic model free observer based output feedback tracking control of robot manipulators in task-space}, author = {N Cobanoglu and K Çetin and E Tatlicioglu and E Zergeroglu}, year = {2018}, date = {2018-01-01}, journal = {2018 Annual American Control Conference (ACC)}, pages = {2121--2126}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan Compensating of added mass terms in dynamically positioned surface vehicles: A continuous robust control approach Journal Article Ocean Engineering, 2017, ISSN: 00298018. @article{Bidikli2017a, title = {Compensating of added mass terms in dynamically positioned surface vehicles: A continuous robust control approach}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1016/j.oceaneng.2017.05.002}, issn = {00298018}, year = {2017}, date = {2017-01-01}, journal = {Ocean Engineering}, abstract = {In this work, we provide a tracking controller formulation for dynamically positioned surface vessels with an asymmetric added mass terms that affects the overall system dynamics at the acceleration level. Specifically a novel continuous robust controller is proposed for surface vessels that in addition to unstructured uncertainties in its dynamics, contains added mass effects in its inertia matrix. The proposed controller compensates the overall system uncertainties while ensuring asymptotic tracking by utilizing the knowledge of the leading principal minors of the input gain matrix. Stability of the closed–loop system and asymptotic convergence are proven via Lyapunov based approaches. Simulation studies are also presented to illustrate the viability of the proposed method.}, keywords = {}, pubstate = {published}, tppubtype = {article} } In this work, we provide a tracking controller formulation for dynamically positioned surface vessels with an asymmetric added mass terms that affects the overall system dynamics at the acceleration level. Specifically a novel continuous robust controller is proposed for surface vessels that in addition to unstructured uncertainties in its dynamics, contains added mass effects in its inertia matrix. The proposed controller compensates the overall system uncertainties while ensuring asymptotic tracking by utilizing the knowledge of the leading principal minors of the input gain matrix. Stability of the closed–loop system and asymptotic convergence are proven via Lyapunov based approaches. Simulation studies are also presented to illustrate the viability of the proposed method. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan Observer-based adaptive output feedback tracking control of dynamically positioned surface vessels Journal Article Journal of Marine Science and Technology (Japan), 2017, ISSN: 09484280. @article{Bidikli2017b, title = {Observer-based adaptive output feedback tracking control of dynamically positioned surface vessels}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1007/s00773-016-0417-7}, issn = {09484280}, year = {2017}, date = {2017-01-01}, journal = {Journal of Marine Science and Technology (Japan)}, abstract = {textcopyright 2016 JASNAOEIn this work, we propose an observer-based adaptive output feedback tracking controller for dynamically positioned surface vessels. Specifically, to remove the velocity measurement dependency of the control formulation a nonlinear, model-free observer formulation have been proposed. The proposed observer does not make use of the system dynamics and together with the proposed controller structure ensure that the tracking error signal and the velocity estimation error asymptotically converges to zero. Stability of the closed-loop system is ensured by Lyapunov-based arguments. Simulation studies are also presented to illustrate the effectiveness of the proposed method.}, keywords = {}, pubstate = {published}, tppubtype = {article} } textcopyright 2016 JASNAOEIn this work, we propose an observer-based adaptive output feedback tracking controller for dynamically positioned surface vessels. Specifically, to remove the velocity measurement dependency of the control formulation a nonlinear, model-free observer formulation have been proposed. The proposed observer does not make use of the system dynamics and together with the proposed controller structure ensure that the tracking error signal and the velocity estimation error asymptotically converges to zero. Stability of the closed-loop system is ensured by Lyapunov-based arguments. Simulation studies are also presented to illustrate the effectiveness of the proposed method. |
Tanyer, Ilker; Tatlicioglu, Enver; Zergeroglu, Erkan Model reference tracking control of an aircraft: a robust adaptive approach Journal Article International Journal of Systems Science, 2017, ISSN: 14645319. @article{Tanyer2017, title = {Model reference tracking control of an aircraft: a robust adaptive approach}, author = {Ilker Tanyer and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1080/00207721.2016.1261200}, issn = {14645319}, year = {2017}, date = {2017-01-01}, journal = {International Journal of Systems Science}, abstract = {This work presents the design and the corresponding analysis of a nonlinear robust adaptive controller for model reference tracking of an aircraft that has parametric uncertainties in its system matrices and additive state- and/or time-dependent nonlinear disturbance-like terms in its dynamics. Specifically, robust integral of the sign of the error feedback term and an adaptive term is fused with a proportional integral controller. Lyapunov-based stability analysis techniques are utilised to prove global asymptotic convergence of the output tracking error. Extensive numerical simulations are presented to illustrate the performance of the proposed robust adaptive controller.}, keywords = {}, pubstate = {published}, tppubtype = {article} } This work presents the design and the corresponding analysis of a nonlinear robust adaptive controller for model reference tracking of an aircraft that has parametric uncertainties in its system matrices and additive state- and/or time-dependent nonlinear disturbance-like terms in its dynamics. Specifically, robust integral of the sign of the error feedback term and an adaptive term is fused with a proportional integral controller. Lyapunov-based stability analysis techniques are utilised to prove global asymptotic convergence of the output tracking error. Extensive numerical simulations are presented to illustrate the performance of the proposed robust adaptive controller. |
Sahin, Osman Nuri; Uzunoglu, Emre; Tatlicioglu, Enver; Dede, Can M I Design and development of an educational desktop robot R3D Journal Article Computer Applications in Engineering Education, 2017, ISSN: 10990542. @article{Sahin2017, title = {Design and development of an educational desktop robot R3D}, author = {Osman Nuri Sahin and Emre Uzunoglu and Enver Tatlicioglu and Can M I Dede}, doi = {10.1002/cae.21792}, issn = {10990542}, year = {2017}, date = {2017-01-01}, journal = {Computer Applications in Engineering Education}, abstract = {textcopyright 2017 Wiley Periodicals, Inc. Robotic desktop devices have been used for academic purposes for a variety of investigation and development studies. Desktop devices for academic/educational purposes have been highly anticipated especially in the fields of haptics, teleoperation systems, and control studies. This paper's motivation is to present the steps of designing, manufacturing, and implementing of Educational Desktop Robot R3D to be used for haptics, teleoperation, and redundancy control studies. The design, manufacturing details, kinematic, and dynamic model of the robot are described in the manuscript. Additionally, a case study is carried out for end effector control in task space is given and the results are shared. textcopyright 2017 Wiley Periodicals, Inc. Comput Appl Eng Educ 25:222–229, 2017; View this article online at wileyonlinelibrary.com/journal/cae; DOI 10.1002/cae.21792.}, keywords = {}, pubstate = {published}, tppubtype = {article} } textcopyright 2017 Wiley Periodicals, Inc. Robotic desktop devices have been used for academic purposes for a variety of investigation and development studies. Desktop devices for academic/educational purposes have been highly anticipated especially in the fields of haptics, teleoperation systems, and control studies. This paper's motivation is to present the steps of designing, manufacturing, and implementing of Educational Desktop Robot R3D to be used for haptics, teleoperation, and redundancy control studies. The design, manufacturing details, kinematic, and dynamic model of the robot are described in the manuscript. Additionally, a case study is carried out for end effector control in task space is given and the results are shared. textcopyright 2017 Wiley Periodicals, Inc. Comput Appl Eng Educ 25:222–229, 2017; View this article online at wileyonlinelibrary.com/journal/cae; DOI 10.1002/cae.21792. |
Zergeroglu, Erkan; Tatlicioglu, Enver; Kaleli, Egemen A model independent observer based output feedback tracking controller for robotic manipulators with dynamical uncertainties Journal Article Robotica, 2017, ISSN: 14698668. @article{Zergeroglu2017, title = {A model independent observer based output feedback tracking controller for robotic manipulators with dynamical uncertainties}, author = {Erkan Zergeroglu and Enver Tatlicioglu and Egemen Kaleli}, doi = {10.1017/S026357471500079X}, issn = {14698668}, year = {2017}, date = {2017-01-01}, journal = {Robotica}, abstract = {In 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.}, keywords = {}, pubstate = {published}, tppubtype = {article} } In 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. |
Deniz, Meryem; Bayrak, Alper; Tatlicioglu, Enver; Zergeroglu, Erkan A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems Journal Article Journal of Dynamic Systems, Measurement, and Control, 2017, ISSN: 0022-0434. @article{Deniz2017, title = {A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems}, author = {Meryem Deniz and Alper Bayrak and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1115/1.4038373}, issn = {0022-0434}, year = {2017}, date = {2017-01-01}, journal = {Journal of Dynamic Systems, Measurement, and Control}, abstract = {textcopyright 2018 by ASME. In this study, the design of a smooth robust velocity observer for a class of uncertain nonlinear mechatronic systems is presented. The proposed velocity observer does not require a priori knowledge of the upper bounds of the uncertain system dynamics and introduces time-varying observer gains for uncertainty compensation. Practical stability of the velocity observation error is ensured via Lyapunov-type stability analysis. Experimental results obtained from Phantom Omni haptic device are presented to illustrate the performance of the proposed velocity observer.}, keywords = {}, pubstate = {published}, tppubtype = {article} } textcopyright 2018 by ASME. In this study, the design of a smooth robust velocity observer for a class of uncertain nonlinear mechatronic systems is presented. The proposed velocity observer does not require a priori knowledge of the upper bounds of the uncertain system dynamics and introduces time-varying observer gains for uncertainty compensation. Practical stability of the velocity observation error is ensured via Lyapunov-type stability analysis. Experimental results obtained from Phantom Omni haptic device are presented to illustrate the performance of the proposed velocity observer. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan A New Robust Controller Formulation for the Full–State Feedback Position Tracking of a Small–Scaled Unmanned Model Helicopter Journal Article IFAC-PapersOnLine, 2017, ISSN: 24058963. @article{Bidikli2017c, title = {A New Robust Controller Formulation for the Full–State Feedback Position Tracking of a Small–Scaled Unmanned Model Helicopter}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1016/j.ifacol.2017.08.967}, issn = {24058963}, year = {2017}, date = {2017-01-01}, journal = {IFAC-PapersOnLine}, abstract = {This work focuses on the robust attitude tracking control problem for a small– scaled unmanned helicopter where the actual system inputs, namely the elevator servo input, the aileron servo input and the rudder servo input, are used in the controller formulation. The design process is divided into two parts. Initially the problem is transformed into a second order system with an uncertain non–symmetric input gain matrix by utilizing some reasonable simplifications for the rotor model under the hovering flight conditions. Then a novel robust control methodology is utilized via a matrix decomposition method. The stability of the overall system is ensured by Lyapunov type analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed method.}, keywords = {}, pubstate = {published}, tppubtype = {article} } This work focuses on the robust attitude tracking control problem for a small– scaled unmanned helicopter where the actual system inputs, namely the elevator servo input, the aileron servo input and the rudder servo input, are used in the controller formulation. The design process is divided into two parts. Initially the problem is transformed into a second order system with an uncertain non–symmetric input gain matrix by utilizing some reasonable simplifications for the rotor model under the hovering flight conditions. Then a novel robust control methodology is utilized via a matrix decomposition method. The stability of the overall system is ensured by Lyapunov type analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed method. |
Tatlicioglu, E; Cobanoglu, N; Zergeroglu, E Neural Network-Based Repetitive Learning Control of Euler Lagrange Systems: An Output Feedback Approach Journal Article IEEE Control Systems Letters, 2 (1), pp. 13–18, 2017. @article{pop00082b, title = {Neural Network-Based Repetitive Learning Control of Euler Lagrange Systems: An Output Feedback Approach}, author = {E Tatlicioglu and N Cobanoglu and E Zergeroglu}, year = {2017}, date = {2017-01-01}, journal = {IEEE Control Systems Letters}, volume = {2}, number = {1}, pages = {13--18}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Aksoy, O; Zergeroglu, E; Tatlicioglu, E On adaptive output feedback controf robotic manipulators with online disturbance estimation Journal Article Journal of Intelligent & Robotic Systems 85 (3-4), pp. 633–649, 2017. @article{pop00083b, title = {On adaptive output feedback controf robotic manipulators with online disturbance estimation}, author = {O Aksoy and E Zergeroglu and E Tatlicioglu}, year = {2017}, date = {2017-01-01}, journal = {Journal of Intelligent & Robotic Systems 85 (3-4)}, pages = {633--649}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Bıdıklı, B; Tatlıcıoğlu, E; Zergeroğlu, E A new robust controller formulation for the full–state feedback position tracking of a small–scaled unmanned model helicopter Journal Article Elsevier, 2017. @article{pop00084, title = {A new robust controller formulation for the full–state feedback position tracking of a small–scaled unmanned model helicopter}, author = {B Bıdıklı and E Tatlıcıoğlu and E Zergeroğlu}, year = {2017}, date = {2017-01-01}, journal = {Elsevier}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan Compensating of added mass terms in dynamically positioned surface vehicles: A continuous robust control approach Journal Article Ocean Engineering, 2017, ISSN: 00298018. @article{Bidikli2017ab, title = {Compensating of added mass terms in dynamically positioned surface vehicles: A continuous robust control approach}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1016/j.oceaneng.2017.05.002}, issn = {00298018}, year = {2017}, date = {2017-01-01}, journal = {Ocean Engineering}, abstract = {In this work, we provide a tracking controller formulation for dynamically positioned surface vessels with an asymmetric added mass terms that affects the overall system dynamics at the acceleration level. Specifically a novel continuous robust controller is proposed for surface vessels that in addition to unstructured uncertainties in its dynamics, contains added mass effects in its inertia matrix. The proposed controller compensates the overall system uncertainties while ensuring asymptotic tracking by utilizing the knowledge of the leading principal minors of the input gain matrix. Stability of the closed–loop system and asymptotic convergence are proven via Lyapunov based approaches. Simulation studies are also presented to illustrate the viability of the proposed method.}, keywords = {}, pubstate = {published}, tppubtype = {article} } In this work, we provide a tracking controller formulation for dynamically positioned surface vessels with an asymmetric added mass terms that affects the overall system dynamics at the acceleration level. Specifically a novel continuous robust controller is proposed for surface vessels that in addition to unstructured uncertainties in its dynamics, contains added mass effects in its inertia matrix. The proposed controller compensates the overall system uncertainties while ensuring asymptotic tracking by utilizing the knowledge of the leading principal minors of the input gain matrix. Stability of the closed–loop system and asymptotic convergence are proven via Lyapunov based approaches. Simulation studies are also presented to illustrate the viability of the proposed method. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan Observer-based adaptive output feedback tracking control of dynamically positioned surface vessels Journal Article Journal of Marine Science and Technology (Japan), 2017, ISSN: 09484280. @article{Bidikli2017bb, title = {Observer-based adaptive output feedback tracking control of dynamically positioned surface vessels}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1007/s00773-016-0417-7}, issn = {09484280}, year = {2017}, date = {2017-01-01}, journal = {Journal of Marine Science and Technology (Japan)}, abstract = {textcopyright 2016 JASNAOEIn this work, we propose an observer-based adaptive output feedback tracking controller for dynamically positioned surface vessels. Specifically, to remove the velocity measurement dependency of the control formulation a nonlinear, model-free observer formulation have been proposed. The proposed observer does not make use of the system dynamics and together with the proposed controller structure ensure that the tracking error signal and the velocity estimation error asymptotically converges to zero. Stability of the closed-loop system is ensured by Lyapunov-based arguments. Simulation studies are also presented to illustrate the effectiveness of the proposed method.}, keywords = {}, pubstate = {published}, tppubtype = {article} } textcopyright 2016 JASNAOEIn this work, we propose an observer-based adaptive output feedback tracking controller for dynamically positioned surface vessels. Specifically, to remove the velocity measurement dependency of the control formulation a nonlinear, model-free observer formulation have been proposed. The proposed observer does not make use of the system dynamics and together with the proposed controller structure ensure that the tracking error signal and the velocity estimation error asymptotically converges to zero. Stability of the closed-loop system is ensured by Lyapunov-based arguments. Simulation studies are also presented to illustrate the effectiveness of the proposed method. |
Bayrak, Alper; Tatlicioglu, Enver A novel online adaptive time delay identification technique Journal Article International Journal of Systems Science, 2016, ISSN: 14645319. @article{Bayrak2016, title = {A novel online adaptive time delay identification technique}, author = {Alper Bayrak and Enver Tatlicioglu}, doi = {10.1080/00207721.2014.941958}, issn = {14645319}, year = {2016}, date = {2016-01-01}, journal = {International Journal of Systems Science}, abstract = {In this study, an online time delay identification technique is proposed. Different from the relevant literature, the time delay is considered as a nonlinear parameter and nonlinear parameter estimation techniques are adopted. The stability of the adaptive update law can be guaranteed via Lyapunov based arguments and numerical simulations are conducted to demonstrate the proof of concept. textcopyright 2011 IEEE.}, keywords = {}, pubstate = {published}, tppubtype = {article} } In this study, an online time delay identification technique is proposed. Different from the relevant literature, the time delay is considered as a nonlinear parameter and nonlinear parameter estimation techniques are adopted. The stability of the adaptive update law can be guaranteed via Lyapunov based arguments and numerical simulations are conducted to demonstrate the proof of concept. textcopyright 2011 IEEE. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan Robust dynamic positioning of surface vessels via multiple unidirectional tugboats Journal Article Ocean Engineering, 2016, ISSN: 00298018. @article{Bidikli2016a, title = {Robust dynamic positioning of surface vessels via multiple unidirectional tugboats}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1016/j.oceaneng.2015.12.057}, issn = {00298018}, year = {2016}, date = {2016-01-01}, journal = {Ocean Engineering}, abstract = {In this paper, the problem of accurate positioning of an unactuated surface vessel by using multiple uni-directional tugboats is investigated. Specifically a robust controller that ensures asymptotic position tracking is designed. The control design procedure is implemented in two steps: Initially by locating opposing tugboats to specific configurations, the overall problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Then via a matrix decomposition, a novel robust controller methodology is proposed. The stability of the overall system is ensured via rigorous stability analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed controller.}, keywords = {}, pubstate = {published}, tppubtype = {article} } In this paper, the problem of accurate positioning of an unactuated surface vessel by using multiple uni-directional tugboats is investigated. Specifically a robust controller that ensures asymptotic position tracking is designed. The control design procedure is implemented in two steps: Initially by locating opposing tugboats to specific configurations, the overall problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Then via a matrix decomposition, a novel robust controller methodology is proposed. The stability of the overall system is ensured via rigorous stability analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed controller. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan; Bayrak, Alper An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics Journal Article International Journal of Systems Science, 2016, ISSN: 14645319. @article{Bidikli2016b, title = {An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu and Alper Bayrak}, doi = {10.1080/00207721.2015.1039627}, issn = {14645319}, year = {2016}, date = {2016-01-01}, journal = {International Journal of Systems Science}, abstract = {textcopyright 2015 Taylor & Francis.In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method.}, keywords = {}, pubstate = {published}, tppubtype = {article} } textcopyright 2015 Taylor & Francis.In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method. |
Bayrak, Alper; Tatlicioglu, Enver A novel online adaptive time delay identification technique Journal Article International Journal of Systems Science, 2016, ISSN: 14645319. @article{Bayrak2016b, title = {A novel online adaptive time delay identification technique}, author = {Alper Bayrak and Enver Tatlicioglu}, doi = {10.1080/00207721.2014.941958}, issn = {14645319}, year = {2016}, date = {2016-01-01}, journal = {International Journal of Systems Science}, abstract = {In this study, an online time delay identification technique is proposed. Different from the relevant literature, the time delay is considered as a nonlinear parameter and nonlinear parameter estimation techniques are adopted. The stability of the adaptive update law can be guaranteed via Lyapunov based arguments and numerical simulations are conducted to demonstrate the proof of concept. textcopyright 2011 IEEE.}, keywords = {}, pubstate = {published}, tppubtype = {article} } In this study, an online time delay identification technique is proposed. Different from the relevant literature, the time delay is considered as a nonlinear parameter and nonlinear parameter estimation techniques are adopted. The stability of the adaptive update law can be guaranteed via Lyapunov based arguments and numerical simulations are conducted to demonstrate the proof of concept. textcopyright 2011 IEEE. |
Dede, Mehmet Ismet Can; Maaroof, Omar W; Tatlicioglu, Enver A new objective function for obstacle avoidance by redundant service robot arms Journal Article International Journal of Advanced Robotic Systems, 2016, ISSN: 17298814. @article{Dede2016, title = {A new objective function for obstacle avoidance by redundant service robot arms}, author = {Mehmet Ismet Can Dede and Omar W Maaroof and Enver Tatlicioglu}, doi = {10.5772/62471}, issn = {17298814}, year = {2016}, date = {2016-01-01}, journal = {International Journal of Advanced Robotic Systems}, abstract = {textcopyright 2016 Author(s). Licensee InTech. The performance of task-space tracking control of kinematically redundant robots regulating self-motion to ensure obstacle avoidance is studied and discussed. As the subtask objective, the links of the kinematically redundant assistive robot should avoid any collisions with the patient that is being assisted. The shortcomings of the obstacle avoidance algorithms are discussed and a new obstacle avoidance algorithm is proposed. The performance of the proposed algorithm is validated with tests that were carried out using the virtual model of a seven degrees-offreedom robot arm. The test results indicate that the developed controller for the robot manipulator is successful in both accomplishing the main-task and the sub-task objectives.}, keywords = {}, pubstate = {published}, tppubtype = {article} } textcopyright 2016 Author(s). Licensee InTech. The performance of task-space tracking control of kinematically redundant robots regulating self-motion to ensure obstacle avoidance is studied and discussed. As the subtask objective, the links of the kinematically redundant assistive robot should avoid any collisions with the patient that is being assisted. The shortcomings of the obstacle avoidance algorithms are discussed and a new obstacle avoidance algorithm is proposed. The performance of the proposed algorithm is validated with tests that were carried out using the virtual model of a seven degrees-offreedom robot arm. The test results indicate that the developed controller for the robot manipulator is successful in both accomplishing the main-task and the sub-task objectives. |
Deniz, Meryem; Özdemirel, Barbaros; Bayrak, Alper; Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan Robust output tracking control of an unmanned aerial vehicle subject to additive state dependent disturbance Journal Article IET Control Theory & Applications, 2016, ISSN: 1751-8644. @article{Deniz2016, title = {Robust output tracking control of an unmanned aerial vehicle subject to additive state dependent disturbance}, author = {Meryem Deniz and Barbaros Özdemirel and Alper Bayrak and İlker Tanyer and Enver Tatlıcıoğlu and Erkan Zergeroğlu}, doi = {10.1049/iet-cta.2015.1304}, issn = {1751-8644}, year = {2016}, date = {2016-01-01}, journal = {IET Control Theory & Applications}, abstract = {textcopyright The Institution of Engineering and Technology 2016. 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.}, keywords = {}, pubstate = {published}, tppubtype = {article} } textcopyright The Institution of Engineering and Technology 2016. 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. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan; Bayrak, Alper An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics Journal Article International Journal of Systems Science, 2016, ISSN: 14645319. @article{Bidikli2016bb, title = {An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu and Alper Bayrak}, doi = {10.1080/00207721.2015.1039627}, issn = {14645319}, year = {2016}, date = {2016-01-01}, journal = {International Journal of Systems Science}, abstract = {textcopyright 2015 Taylor & Francis.In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method.}, keywords = {}, pubstate = {published}, tppubtype = {article} } textcopyright 2015 Taylor & Francis.In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method. |
Bayrak, A; Dogan, F; Tatlicioglu, E; Ozdemirel, B Design of an experimental twin‐rotor multi‐input multi‐output system Journal Article Computer Applications in Engineering Education, 23 (4), pp. 578–586, 2015. @article{pop00018d, title = {Design of an experimental twin‐rotor multi‐input multi‐output system}, author = {A Bayrak and F Dogan and E Tatlicioglu and B Ozdemirel}, year = {2015}, date = {2015-01-01}, journal = {Computer Applications in Engineering Education}, volume = {23}, number = {4}, pages = {578--586}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Okur, B; Aksoy, O; Zergeroglu, E; Tatlicioglu, E Nonlinear robust control of tendon–driven robot manipulators Journal Article Journal of Intelligent & Robotic Systems, 80 (1), pp. 3–14, 2015. @article{pop00034b, title = {Nonlinear robust control of tendon–driven robot manipulators}, author = {B Okur and O Aksoy and E Zergeroglu and E Tatlicioglu}, year = {2015}, date = {2015-01-01}, journal = {Journal of Intelligent & Robotic Systems}, volume = {80}, number = {1}, pages = {3--14}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Bayrak, Alper; Dogan, Firat; Tatlicioglu, Enver; Ozdemirel, Barbaros Design of an experimental twin-rotor multi-input multi-output system Journal Article Computer Applications in Engineering Education, 2015, ISSN: 10990542. @article{Bayrak2015b, title = {Design of an experimental twin-rotor multi-input multi-output system}, author = {Alper Bayrak and Firat Dogan and Enver Tatlicioglu and Barbaros Ozdemirel}, doi = {10.1002/cae.21628}, issn = {10990542}, year = {2015}, date = {2015-01-01}, journal = {Computer Applications in Engineering Education}, abstract = {textcopyright 2015 Wiley Periodicals, Inc.Twin-rotor multi-input multi-output system (TRMS) is a popular experimental setup utilized mostly for development and evaluation of aerovehicle control algorithms. Motivated by its popularity, construction steps of a TRMS setup in an academic setting are presented in this paper. Specifically, design of mechanical and electronic hardware components and development of related computer software are described in detail. Preliminary experiment results are also presented to demonstrate the performance of the system.}, keywords = {}, pubstate = {published}, tppubtype = {article} } textcopyright 2015 Wiley Periodicals, Inc.Twin-rotor multi-input multi-output system (TRMS) is a popular experimental setup utilized mostly for development and evaluation of aerovehicle control algorithms. Motivated by its popularity, construction steps of a TRMS setup in an academic setting are presented in this paper. Specifically, design of mechanical and electronic hardware components and development of related computer software are described in detail. Preliminary experiment results are also presented to demonstrate the performance of the system. |
Bidikli, B; Tatlicioglu, E; Bayrak, A; Zergeroglu, E A new robust ‘integral of sign of error’feedback controller with adaptive compensation gain Journal Article 52nd IEEE Conference on Decision and Control, pp. 3782–3787, 2013. @article{pop00007gb, title = {A new robust ‘integral of sign of error’feedback controller with adaptive compensation gain}, author = {B Bidikli and E Tatlicioglu and A Bayrak and E Zergeroglu}, year = {2013}, date = {2013-01-01}, journal = {52nd IEEE Conference on Decision and Control}, pages = {3782--3787}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Bayrak, Alper; Tatlicioglu, Enver Online time delay identification and control for general classes of nonlinear systems Journal Article Transactions of the Institute of Measurement and Control, 2013, ISSN: 14770369. @article{Bayrak2013, title = {Online time delay identification and control for general classes of nonlinear systems}, author = {Alper Bayrak and Enver Tatlicioglu}, doi = {10.1177/0142331213476914}, issn = {14770369}, year = {2013}, date = {2013-01-01}, journal = {Transactions of the Institute of Measurement and Control}, abstract = {In this study, online identification of state delays is discussed. First, a novel adaptive time delay identification technique is proposed for general classes of nonlinear systems subject to state delays. The stability of the time delay identification algorithm is analyzed via Lyapunov-based techniques. In this work, we consider the time delay as a nonlinear parameter effecting the system which is a seemingly novel departure from the existing literature. As an extension, this technique is modified to design a tracking controller for general classes of nonlinear systems subject to state delays. The main novelty of this controller is that identification of unknown state delays are ensured while output tracking objective is satisfied. Numerical simulations are conducted that demonstrate the efficiency of the time delay identification algorithm and the tracking controller. textcopyright The Author(s) 2013.}, keywords = {}, pubstate = {published}, tppubtype = {article} } In this study, online identification of state delays is discussed. First, a novel adaptive time delay identification technique is proposed for general classes of nonlinear systems subject to state delays. The stability of the time delay identification algorithm is analyzed via Lyapunov-based techniques. In this work, we consider the time delay as a nonlinear parameter effecting the system which is a seemingly novel departure from the existing literature. As an extension, this technique is modified to design a tracking controller for general classes of nonlinear systems subject to state delays. The main novelty of this controller is that identification of unknown state delays are ensured while output tracking objective is satisfied. Numerical simulations are conducted that demonstrate the efficiency of the time delay identification algorithm and the tracking controller. textcopyright The Author(s) 2013. |
Bidikli, B; Tatlicioglu, E; Zergeroglu, E; Bayrak, A An asymptotically stable continuous robust controller for a class of uncertain MIMO nonlinear systems Journal Article arXiv preprint arXiv:1301., 5483 , 2013. @article{pop00016cb, title = {An asymptotically stable continuous robust controller for a class of uncertain MIMO nonlinear systems}, author = {B Bidikli and E Tatlicioglu and E Zergeroglu and A Bayrak}, year = {2013}, date = {2013-01-01}, journal = {arXiv preprint arXiv:1301.}, volume = {5483}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Tanyer, İ; Tatlıcıoğlu, E; Zergeroğlu, E Robust tracking controller for UAVs Journal Article 2013 21st Signal Processing and Communications Applications Conference (SIU …, 2013. @article{pop00096, title = {Robust tracking controller for UAVs}, author = {İ Tanyer and E Tatlıcıoğlu and E Zergeroğlu}, year = {2013}, date = {2013-01-01}, journal = {2013 21st Signal Processing and Communications Applications Conference (SIU …}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Bıdıklı, B; Tatlıcıoğlu, E; Bayrak, A; Zergeroğlu, E A new robust'integral of sign of error'feedback controller with adaptive compensation gain Journal Article IEEE, 2013. @article{pop00097, title = {A new robust'integral of sign of error'feedback controller with adaptive compensation gain}, author = {B Bıdıklı and E Tatlıcıoğlu and A Bayrak and E Zergeroğlu}, year = {2013}, date = {2013-01-01}, journal = {IEEE}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Bayrak, Alper; Tatlicioglu, Enver Online time delay identification and control for general classes of nonlinear systems Journal Article Transactions of the Institute of Measurement and Control, 2013, ISSN: 14770369. @article{Bayrak2013c, title = {Online time delay identification and control for general classes of nonlinear systems}, author = {Alper Bayrak and Enver Tatlicioglu}, doi = {10.1177/0142331213476914}, issn = {14770369}, year = {2013}, date = {2013-01-01}, journal = {Transactions of the Institute of Measurement and Control}, abstract = {In this study, online identification of state delays is discussed. First, a novel adaptive time delay identification technique is proposed for general classes of nonlinear systems subject to state delays. The stability of the time delay identification algorithm is analyzed via Lyapunov-based techniques. In this work, we consider the time delay as a nonlinear parameter effecting the system which is a seemingly novel departure from the existing literature. As an extension, this technique is modified to design a tracking controller for general classes of nonlinear systems subject to state delays. The main novelty of this controller is that identification of unknown state delays are ensured while output tracking objective is satisfied. Numerical simulations are conducted that demonstrate the efficiency of the time delay identification algorithm and the tracking controller. textcopyright The Author(s) 2013.}, keywords = {}, pubstate = {published}, tppubtype = {article} } In this study, online identification of state delays is discussed. First, a novel adaptive time delay identification technique is proposed for general classes of nonlinear systems subject to state delays. The stability of the time delay identification algorithm is analyzed via Lyapunov-based techniques. In this work, we consider the time delay as a nonlinear parameter effecting the system which is a seemingly novel departure from the existing literature. As an extension, this technique is modified to design a tracking controller for general classes of nonlinear systems subject to state delays. The main novelty of this controller is that identification of unknown state delays are ensured while output tracking objective is satisfied. Numerical simulations are conducted that demonstrate the efficiency of the time delay identification algorithm and the tracking controller. textcopyright The Author(s) 2013. |
Iyasere, E; Salah, M; Dawson, D; Wagner, J; Tatlicioglu, E Optimum seeking-based non-linear controller to maximise energy capture in a variable speed wind turbine Journal Article IET Control Theory & Applications, 6 (4), pp. 526–532, 2012. @article{pop00006c, title = {Optimum seeking-based non-linear controller to maximise energy capture in a variable speed wind turbine}, author = {E Iyasere and M Salah and D Dawson and J Wagner and E Tatlicioglu}, year = {2012}, date = {2012-01-01}, journal = {IET Control Theory & Applications}, volume = {6}, number = {4}, pages = {526--532}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Iyasere, Erhun; Salah, Mohammed H; Dawson, Darren M; Wagner, John R; Tatlicioglu, Enver Robust nonlinear control strategy to maximize energy capture in a variable speed wind turbine with an internal induction generator Journal Article Journal of Control Theory and Applications, 2012, ISSN: 16726340. @article{Iyasere2012, title = {Robust nonlinear control strategy to maximize energy capture in a variable speed wind turbine with an internal induction generator}, author = {Erhun Iyasere and Mohammed H Salah and Darren M Dawson and John R Wagner and Enver Tatlicioglu}, doi = {10.1007/s11768-012-0315-4}, issn = {16726340}, year = {2012}, date = {2012-01-01}, journal = {Journal of Control Theory and Applications}, abstract = {This paper proposes a control strategy to maximize the wind energy captured in a variable speed wind turbine, with an internal induction generator, at low to medium wind speeds. The proposed strategy controls the tip-speed ratio, via the rotor angular speed, to an optimum point at which the efficiency constant (or power coefficient) is maximum for a particular blade pitch angle and wind speed. This control method allows for aerodynamic rotor power maximization without exact wind turbine model knowledge. Representative numerical results demonstrate that the wind turbine can be controlled to achieve near maximum energy capture. textcopyright 2012 South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.}, keywords = {}, pubstate = {published}, tppubtype = {article} } This paper proposes a control strategy to maximize the wind energy captured in a variable speed wind turbine, with an internal induction generator, at low to medium wind speeds. The proposed strategy controls the tip-speed ratio, via the rotor angular speed, to an optimum point at which the efficiency constant (or power coefficient) is maximum for a particular blade pitch angle and wind speed. This control method allows for aerodynamic rotor power maximization without exact wind turbine model knowledge. Representative numerical results demonstrate that the wind turbine can be controlled to achieve near maximum energy capture. textcopyright 2012 South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg. |
Obuz, S; Tatlicioglu, E; Çekiç, SÇ; Dawson, DM Predictor–Based Robust Control of Uncertain Nonlinear Systems Subject to Input Delay Journal Article IFAC Proceedings Volumes, 45 (14), pp. 231–236, 2012. @article{pop00017b, title = {Predictor–Based Robust Control of Uncertain Nonlinear Systems Subject to Input Delay}, author = {S Obuz and E Tatlicioglu and SÇ Çekiç and DM Dawson}, year = {2012}, date = {2012-01-01}, journal = {IFAC Proceedings Volumes}, volume = {45}, number = {14}, pages = {231--236}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Salah, MH; McIntyre, ML; Dawson, DM; Wagner, JR; Tatlicioglu, E Charge feedback-based robust position tracking control for piezoelectric actuators Journal Article IET control theory & applications, 6 (5), pp. 615–628, 2012. @article{pop00020e, title = {Charge feedback-based robust position tracking control for piezoelectric actuators}, author = {MH Salah and ML McIntyre and DM Dawson and JR Wagner and E Tatlicioglu}, year = {2012}, date = {2012-01-01}, journal = {IET control theory & applications}, volume = {6}, number = {5}, pages = {615--628}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Seker, M; Zergeroglu, E; Tatlicioglu, E Robust Backstepping Control of Variable Speed Wind Turbines with Permanent Magnet Synchronous Generators Journal Article Multi-Conference on Systems and Control, pp. 1068–1073, 2012. @article{pop00030c, title = {Robust Backstepping Control of Variable Speed Wind Turbines with Permanent Magnet Synchronous Generators}, author = {M Seker and E Zergeroglu and E Tatlicioglu}, year = {2012}, date = {2012-01-01}, journal = {Multi-Conference on Systems and Control}, pages = {1068--1073}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Ozyetkin, MM; Nath, N; Tatlicioglu, E; Dawson, DM A New Robust Nonlinear Control Algorithm for the Regulation of Blood Glucose in Diabetic Patients Journal Article Multi-Conference on Systems and Control, pp. 1057–1061, 2012. @article{pop00040c, title = {A New Robust Nonlinear Control Algorithm for the Regulation of Blood Glucose in Diabetic Patients}, author = {MM Ozyetkin and N Nath and E Tatlicioglu and DM Dawson}, year = {2012}, date = {2012-01-01}, journal = {Multi-Conference on Systems and Control}, pages = {1057--1061}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Nath, Nitendra; Dawson, Darren M; Tatlicioglu, Enver Euclidean position estimation of static features using a moving uncalibrated camera Journal Article IEEE Transactions on Control Systems Technology, 2012, ISSN: 10636536. @article{Nath2012, title = {Euclidean position estimation of static features using a moving uncalibrated camera}, author = {Nitendra Nath and Darren M Dawson and Enver Tatlicioglu}, doi = {10.1109/TCST.2011.2120610}, issn = {10636536}, year = {2012}, date = {2012-01-01}, journal = {IEEE Transactions on Control Systems Technology}, abstract = {In this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on amoving platform is developed to asymptotically recover the 3-D Euclidean position of static object features. The position of the moving plat- form is assumed to be measurable, and a second object with known 3-D Euclidean coordinates relative to theworld frame is considered to be available a priori. To account for the unknown camera cali- bration parameters and to estimate the unknown 3-D Euclidean coordinates, an adaptive least squares estimation strategy is em- ployed based on prediction error formulations and a Lyapunov- type stability analysis. The developed estimator is shownto recover the 3-D Euclidean position of the unknown object features despite the lack of knowledge of the camera calibration parameters. Nu- merical simulation results along with experimental results are pre- sented}, keywords = {}, pubstate = {published}, tppubtype = {article} } In this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on amoving platform is developed to asymptotically recover the 3-D Euclidean position of static object features. The position of the moving plat- form is assumed to be measurable, and a second object with known 3-D Euclidean coordinates relative to theworld frame is considered to be available a priori. To account for the unknown camera cali- bration parameters and to estimate the unknown 3-D Euclidean coordinates, an adaptive least squares estimation strategy is em- ployed based on prediction error formulations and a Lyapunov- type stability analysis. The developed estimator is shownto recover the 3-D Euclidean position of the unknown object features despite the lack of knowledge of the camera calibration parameters. Nu- merical simulation results along with experimental results are pre- sented |
Kapadia, A; Walker, I; Dawson, D; Tatlicioglu, E A new approach to extensible continuum robot control using the sliding-mode Journal Article Intl. J. Comp. Tech. and App, 2 (4), pp. 293–300, 2011. @article{pop00022e, title = {A new approach to extensible continuum robot control using the sliding-mode}, author = {A Kapadia and I Walker and D Dawson and E Tatlicioglu}, year = {2011}, date = {2011-01-01}, journal = {Intl. J. Comp. Tech. and App}, volume = {2}, number = {4}, pages = {293--300}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Tatlicioğlu, E Learning control of robot manipulators in the presence of additive disturbances Journal Article Turkish Journal of Electrical Engineering & Computer Sciences, 19 (5), pp. 705–714, 2011. @article{pop00037bb, title = {Learning control of robot manipulators in the presence of additive disturbances}, author = {E Tatlicioğlu}, year = {2011}, date = {2011-01-01}, journal = {Turkish Journal of Electrical Engineering & Computer Sciences}, volume = {19}, number = {5}, pages = {705--714}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Salah, MH; Al-Jarrah, AM; Tatlıcıoğlu, E Nonlinear control techniques for micro electrostatic actuators in the presence of parasitics and parametric uncertainties Journal Article IASTED, 2011. @article{pop00073, title = {Nonlinear control techniques for micro electrostatic actuators in the presence of parasitics and parametric uncertainties}, author = {MH Salah and AM Al-Jarrah and E Tatlıcıoğlu}, year = {2011}, date = {2011-01-01}, journal = {IASTED}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Tatlıcıoğlu, E Learning control of robot manipulators in the presence of additive disturbances Journal Article TÜBİTAK, 2011. @article{pop00101, title = {Learning control of robot manipulators in the presence of additive disturbances}, author = {E Tatlıcıoğlu}, year = {2011}, date = {2011-01-01}, journal = {TÜBİTAK}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Kapadia, AD; Walker, ID; Dawson, DM; Tatlicioglu, E A model-based sliding mode controller for extensible continuum robots Journal Article Proceedings of the 9th WSEAS international conference on Signal processing …, 2010. @article{pop00005c, title = {A model-based sliding mode controller for extensible continuum robots}, author = {AD Kapadia and ID Walker and DM Dawson and E Tatlicioglu}, year = {2010}, date = {2010-01-01}, journal = {Proceedings of the 9th WSEAS international conference on Signal processing …}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Salah, MH; McIntyre, ML; Dawson, DM; Wagner, JR; Tatlicioglu, E Sensing of the time-varying angular rate for MEMS Z-axis gyroscopes Journal Article Mechatronics, 20 (6), pp. 720–727, 2010. @article{pop00009d, title = {Sensing of the time-varying angular rate for MEMS Z-axis gyroscopes}, author = {MH Salah and ML McIntyre and DM Dawson and JR Wagner and E Tatlicioglu}, year = {2010}, date = {2010-01-01}, journal = {Mechatronics}, volume = {20}, number = {6}, pages = {720--727}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Iyasere, E; Tatlicioglu, E; Dawson, DM Backstepping PWM control for maximum power tracking in photovoltaic array systems Journal Article Proceedings of the 2010 American Control Conference, pp. 3561–3565, 2010. @article{pop00010jb, title = {Backstepping PWM control for maximum power tracking in photovoltaic array systems}, author = {E Iyasere and E Tatlicioglu and DM Dawson}, year = {2010}, date = {2010-01-01}, journal = {Proceedings of the 2010 American Control Conference}, pages = {3561--3565}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Nath, Nitendra; Tatlicioglu, Enver; Dawson, Darren M Range identification for nonlinear parameterizable paracatadioptric systems Journal Article Automatica, 2010, ISSN: 00051098. @article{Nath2010, title = {Range identification for nonlinear parameterizable paracatadioptric systems}, author = {Nitendra Nath and Enver Tatlicioglu and Darren M Dawson}, doi = {10.1016/j.automatica.2010.03.017}, issn = {00051098}, year = {2010}, date = {2010-01-01}, journal = {Automatica}, abstract = {In this paper, a new range identification technique for a calibrated paracatadioptric system mounted on a moving platform is developed to recover the range information and the three-dimensional (3D) Euclidean coordinates of a static object feature. The position of the moving platform is assumed to be measurable. To identify the unknown range, first, a function of the projected pixel coordinates is related to the unknown 3D Euclidean coordinates of an object feature. This function is nonlinearly parameterized (i.e., the unknown parameters appear nonlinearly in the parameterized model). An adaptive estimator based on a minmax algorithm is then designed to estimate the unknown 3D Euclidean coordinates of an object feature relative to a fixed reference frame which facilitates the identification of range. A Lyapunov-type stability analysis is used to show that the developed estimator provides an estimation of the unknown parameters within a desired precision. Numerical simulation results are presented to illustrate the effectiveness of the proposed range estimation technique. textcopyright 2010 Elsevier Ltd. All rights reserved.}, keywords = {}, pubstate = {published}, tppubtype = {article} } In this paper, a new range identification technique for a calibrated paracatadioptric system mounted on a moving platform is developed to recover the range information and the three-dimensional (3D) Euclidean coordinates of a static object feature. The position of the moving platform is assumed to be measurable. To identify the unknown range, first, a function of the projected pixel coordinates is related to the unknown 3D Euclidean coordinates of an object feature. This function is nonlinearly parameterized (i.e., the unknown parameters appear nonlinearly in the parameterized model). An adaptive estimator based on a minmax algorithm is then designed to estimate the unknown 3D Euclidean coordinates of an object feature relative to a fixed reference frame which facilitates the identification of range. A Lyapunov-type stability analysis is used to show that the developed estimator provides an estimation of the unknown parameters within a desired precision. Numerical simulation results are presented to illustrate the effectiveness of the proposed range estimation technique. textcopyright 2010 Elsevier Ltd. All rights reserved. |
Zergeroglu, E; Tatlicioglu, E Observer based output feedback tracking control of robot manipulators Journal Article 2010 IEEE International Conference on Control Applications, pp. 602–607, 2010. @article{pop00031c, title = {Observer based output feedback tracking control of robot manipulators}, author = {E Zergeroglu and E Tatlicioglu}, year = {2010}, date = {2010-01-01}, journal = {2010 IEEE International Conference on Control Applications}, pages = {602--607}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Tatlicioglu, E Adaptive control of non-linear teleoperator systems in the presence of additive input and output disturbances Journal Article International Journal of Robotics & Automation, 25 (1), pp. 17–17, 2010. @article{pop00042c, title = {Adaptive control of non-linear teleoperator systems in the presence of additive input and output disturbances}, author = {E Tatlicioglu}, year = {2010}, date = {2010-01-01}, journal = {International Journal of Robotics & Automation}, volume = {25}, number = {1}, pages = {17--17}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Salah, MH; Alwidyan, KM; Tatlicioglu, E; Dawson, DM Robust backstepping nonlinear control for parallel-plate micro electrostatic actuators Journal Article Proc. of the 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA, 2010. @article{pop00061, title = {Robust backstepping nonlinear control for parallel-plate micro electrostatic actuators}, author = {MH Salah and KM Alwidyan and E Tatlicioglu and DM Dawson}, year = {2010}, date = {2010-01-01}, journal = {Proc. of the 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Tatlicioglu, Enver; Braganza, David; Burg, Timothy C; Dawson, Darren M Adaptive control of redundant robot manipulators with sub-task objectives Journal Article Robotica, 2009, ISSN: 02635747. @article{Tatlicioglu2009, title = {Adaptive control of redundant robot manipulators with sub-task objectives}, author = {Enver Tatlicioglu and David Braganza and Timothy C Burg and Darren M Dawson}, doi = {10.1017/S0263574708005274}, issn = {02635747}, year = {2009}, date = {2009-01-01}, journal = {Robotica}, abstract = {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. Numerical simulation results are presented to show the validity of the proposed controller.}, keywords = {}, pubstate = {published}, tppubtype = {article} } 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. Numerical simulation results are presented to show the validity of the proposed controller. |
Nath, Nitendra; Tatlicioglu, Enver; Dawson, Darren M Teleoperation with kinematically redundant robot manipulators with sub-task objectives Journal Article Robotica, 2009, ISSN: 02635747. @article{Nath2009, title = {Teleoperation with kinematically redundant robot manipulators with sub-task objectives}, author = {Nitendra Nath and Enver Tatlicioglu and Darren M Dawson}, doi = {10.1017/S026357470900544X}, issn = {02635747}, year = {2009}, date = {2009-01-01}, journal = {Robotica}, abstract = {In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user and environmental input forces are unmeasurable. Lyapunov-based stability analysis is used to prove that the proposed controller yields asymptotic tracking results and ensures the coordination of the master and slave systems while satisfying a sub-task objective. Numerical simulation results are presented to illustrate the effectiveness of the proposed controller.}, keywords = {}, pubstate = {published}, tppubtype = {article} } In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user and environmental input forces are unmeasurable. Lyapunov-based stability analysis is used to prove that the proposed controller yields asymptotic tracking results and ensures the coordination of the master and slave systems while satisfying a sub-task objective. Numerical simulation results are presented to illustrate the effectiveness of the proposed controller. |
Tatlicioglu, E; McIntyre, ML; Dawson, DM; Walker, LD Adaptive non-linear tracking control of kinematically redundant robot manipulators Journal Article International Journal of Robotics and Automation, 23 (2), pp. 98–105, 2008. @article{pop00012c, title = {Adaptive non-linear tracking control of kinematically redundant robot manipulators}, author = {E Tatlicioglu and ML McIntyre and DM Dawson and LD Walker}, year = {2008}, date = {2008-01-01}, journal = {International Journal of Robotics and Automation}, volume = {23}, number = {2}, pages = {98--105}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Lee, DB; Tatlicioglu, E; Burg, TC; Dawson, DM Robust output tracking control of a surface vessel Journal Article 2008 American Control Conference, pp. 544–549, 2008. @article{pop00021c, title = {Robust output tracking control of a surface vessel}, author = {DB Lee and E Tatlicioglu and TC Burg and DM Dawson}, year = {2008}, date = {2008-01-01}, journal = {2008 American Control Conference}, pages = {544--549}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Tatlicioglu, E; Walker, ID; Dawson, DM Dynamic modelling for planar extensible continuum robot manipulators Journal Article Proceedings 2007 IEEE International Conference on Robotics and Automation …, 2007. @article{pop00001c, title = {Dynamic modelling for planar extensible continuum robot manipulators}, author = {E Tatlicioglu and ID Walker and DM Dawson}, year = {2007}, date = {2007-01-01}, journal = {Proceedings 2007 IEEE International Conference on Robotics and Automation …}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Tatlicioglu, E; Xian, B; Dawson, DM; Burg, T Adaptive control of flat mimo nonlinear systems with additive disturbance Journal Article 2007 American Control Conference, pp. 1197–1202, 2007. @article{pop00024c, title = {Adaptive control of flat mimo nonlinear systems with additive disturbance}, author = {E Tatlicioglu and B Xian and DM Dawson and T Burg}, year = {2007}, date = {2007-01-01}, journal = {2007 American Control Conference}, pages = {1197--1202}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Tatlicioglu, E; McIntyre, M; Dawson, D; Burg, T Coordination control for haptic and teleoperator systems Journal Article Proceedings of the 45th IEEE Conference on Decision and Control, pp. 2937–2942, 2006. @article{pop00019d, title = {Coordination control for haptic and teleoperator systems}, author = {E Tatlicioglu and M McIntyre and D Dawson and T Burg}, year = {2006}, date = {2006-01-01}, journal = {Proceedings of the 45th IEEE Conference on Decision and Control}, pages = {2937--2942}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
McIntyre, M; Dixon, W; Dawson, D; Tatlicioglu, E Passive coordination of nonlinear bilateral teleoperated manipulators Journal Article Robotica, 24 (4), pp. 463–476, 2006. @article{pop00033bb, title = {Passive coordination of nonlinear bilateral teleoperated manipulators}, author = {M McIntyre and W Dixon and D Dawson and E Tatlicioglu}, year = {2006}, date = {2006-01-01}, journal = {Robotica}, volume = {24}, number = {4}, pages = {463--476}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Tatlicioglu, E; McIntyre, M; Dawson, D; Walker, I Adaptive nonlinear tracking control of kinematically redundant robot manipulators with sub-task extensions Journal Article Proceedings of the 44th IEEE Conference on Decision and Control, pp. 4373–4378, 2005. @article{pop00013b, title = {Adaptive nonlinear tracking control of kinematically redundant robot manipulators with sub-task extensions}, author = {E Tatlicioglu and M McIntyre and D Dawson and I Walker}, year = {2005}, date = {2005-01-01}, journal = {Proceedings of the 44th IEEE Conference on Decision and Control}, pages = {4373--4378}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
Books |
Tatlicioglu, E Control of Nonlinear Mechatronic Systems: Control and Modeling of Nonlinear Systems with Applications in Robotics Book VDM Publishing, 2008. @book{pop00104, title = {Control of Nonlinear Mechatronic Systems: Control and Modeling of Nonlinear Systems with Applications in Robotics}, author = {E Tatlicioglu}, year = {2008}, date = {2008-01-01}, publisher = {VDM Publishing}, keywords = {}, pubstate = {published}, tppubtype = {book} } |
Inproceedings |
Cobanoglu, Necati; Tatlicioglu, Enver; Zergeroglu, Erkan Neural network based repetitive learning control of robot manipulators Inproceedings Proceedings of the American Control Conference, 2017, ISSN: 07431619. @inproceedings{Cobanoglu2017, title = {Neural network based repetitive learning control of robot manipulators}, author = {Necati Cobanoglu and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.23919/ACC.2017.7963781}, issn = {07431619}, year = {2017}, date = {2017-01-01}, booktitle = {Proceedings of the American Control Conference}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
Cetin, Kamil; Bayrak, Alper; Tatlicioglu, Enver Online time delay estimation in networked control systems with application to bilateral teleoperation Inproceedings 2016 European Control Conference, ECC 2016, 2017, ISBN: 9781509025916. @inproceedings{Cetin2017a, title = {Online time delay estimation in networked control systems with application to bilateral teleoperation}, author = {Kamil Cetin and Alper Bayrak and Enver Tatlicioglu}, doi = {10.1109/ECC.2016.7810421}, isbn = {9781509025916}, year = {2017}, date = {2017-01-01}, booktitle = {2016 European Control Conference, ECC 2016}, abstract = {textcopyright 2016 EUCA. The problem of forward and backward time delays is significantly important for both control and feedback loop of networked control systems. These time delays give rise to latency in performance and thereby may destabilize the system. Therefore numerous methods have been proposed about time delay identification/estimation and compensation for networked control systems, especially for bilateral teleoperation systems. However, most compensation methods have been accomplished by considering offline time delay estimation for linear/nonlinear time delay control systems. In this work, we propose an observer based estimation algorithm for round trip delay which is the sum of forward and backward time delays for a 1 degree-of-freedom nonlinear bilateral teleoperation system. Via Lyapunov based stability analysis, global boundedness of the observer errors along with their ultimate convergence and the convergence of the round trip delay estimator to the vicinity of its real value can be guaranteed in the closed-loop system. Finally, simulation and experimental studies are carried out utilizing the last link of a PHANToM Omni Haptic device moving like a one-link robot in the vertical plane.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } textcopyright 2016 EUCA. The problem of forward and backward time delays is significantly important for both control and feedback loop of networked control systems. These time delays give rise to latency in performance and thereby may destabilize the system. Therefore numerous methods have been proposed about time delay identification/estimation and compensation for networked control systems, especially for bilateral teleoperation systems. However, most compensation methods have been accomplished by considering offline time delay estimation for linear/nonlinear time delay control systems. In this work, we propose an observer based estimation algorithm for round trip delay which is the sum of forward and backward time delays for a 1 degree-of-freedom nonlinear bilateral teleoperation system. Via Lyapunov based stability analysis, global boundedness of the observer errors along with their ultimate convergence and the convergence of the round trip delay estimator to the vicinity of its real value can be guaranteed in the closed-loop system. Finally, simulation and experimental studies are carried out utilizing the last link of a PHANToM Omni Haptic device moving like a one-link robot in the vertical plane. |
Cetin, Kamil; Tatlicioglu, Enver; Zergeroglu, Erkan On null-space control of kinematically redundant robot manipulators Inproceedings 2016 European Control Conference, ECC 2016, 2017, ISBN: 9781509025916. @inproceedings{Cetin2017b, title = {On null-space control of kinematically redundant robot manipulators}, author = {Kamil Cetin and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/ECC.2016.7810367}, isbn = {9781509025916}, year = {2017}, date = {2017-01-01}, booktitle = {2016 European Control Conference, ECC 2016}, abstract = {textcopyright 2016 EUCA.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.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } textcopyright 2016 EUCA.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. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan A self-tuning velocity observer formulation for a class of nonlinear systems Inproceedings 2016 IEEE 55th Conference on Decision and Control, CDC 2016, 2016, ISBN: 9781509018376. @inproceedings{Bidikli2016c, title = {A self-tuning velocity observer formulation for a class of nonlinear systems}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/CDC.2016.7798834}, isbn = {9781509018376}, year = {2016}, date = {2016-01-01}, booktitle = {2016 IEEE 55th Conference on Decision and Control, CDC 2016}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan A self-tuning velocity observer formulation for a class of nonlinear systems Inproceedings 2016 IEEE 55th Conference on Decision and Control, CDC 2016, 2016, ISBN: 9781509018376. @inproceedings{Bidikli2016e, title = {A self-tuning velocity observer formulation for a class of nonlinear systems}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/CDC.2016.7798834}, isbn = {9781509018376}, year = {2016}, date = {2016-01-01}, booktitle = {2016 IEEE 55th Conference on Decision and Control, CDC 2016}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
Dogan, Merve K; Tatlicioglu, Enver; Zergeroglu, Erkan Operational/task space learning control of robot manipulators with dynamical uncertainties Inproceedings 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings, 2015, ISBN: 9781479977871. @inproceedings{Dogan2015a, title = {Operational/task space learning control of robot manipulators with dynamical uncertainties}, author = {Merve K Dogan and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/CCA.2015.7320683}, isbn = {9781479977871}, year = {2015}, date = {2015-01-01}, booktitle = {2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
Okur, Beytullah; Zergeroglu, Erkan; Tatlicioglu, Enver Nonlinear control of tendon driven robot manipulators: Elimination of actuator side position measurements Inproceedings Proceedings of the IEEE Conference on Decision and Control, 2015, ISSN: 07431546. @inproceedings{Okur2015a, title = {Nonlinear control of tendon driven robot manipulators: Elimination of actuator side position measurements}, author = {Beytullah Okur and Erkan Zergeroglu and Enver Tatlicioglu}, doi = {10.1109/CDC.2015.7402421}, issn = {07431546}, year = {2015}, date = {2015-01-01}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, abstract = {textcopyright 2015 IEEE. In this study, a partial state feedback controller is proposed for the link position tracking control problem of flexible tendon driven robotic systems. Specifically; a nonlinear model based controller is formulated for tendon driven robot manipulators under the constraint that only the link position and tendon expansion force measurements are available. Despite the lack of link and actuator side velocity and actuator position measurements, the proposed controller ensures exponential link position tracking. To eliminate the need of actuator position and velocity measurements, a model based velocity observer has been utilized. Stability of the closed loop system and boundedness of system states are proven via Lyapunov based arguments. The performance of the purposed observer-controller couple is then verified by a set of numerical simulations.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } textcopyright 2015 IEEE. In this study, a partial state feedback controller is proposed for the link position tracking control problem of flexible tendon driven robotic systems. Specifically; a nonlinear model based controller is formulated for tendon driven robot manipulators under the constraint that only the link position and tendon expansion force measurements are available. Despite the lack of link and actuator side velocity and actuator position measurements, the proposed controller ensures exponential link position tracking. To eliminate the need of actuator position and velocity measurements, a model based velocity observer has been utilized. Stability of the closed loop system and boundedness of system states are proven via Lyapunov based arguments. The performance of the purposed observer-controller couple is then verified by a set of numerical simulations. |
Cetin, Kamil; Tatlicioglu, Enver; Zergeroglu, Erkan Continuous robust task-space tracking control of robotic manipulators with uncertain dynamics Inproceedings 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings, 2015, ISBN: 9781479977871. @inproceedings{Cetin2015, title = {Continuous robust task-space tracking control of robotic manipulators with uncertain dynamics}, author = {Kamil Cetin and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/CCA.2015.7320647}, isbn = {9781479977871}, year = {2015}, date = {2015-01-01}, booktitle = {2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings}, abstract = {textcopyright 2015 IEEE.In this work, the problem of robust task space control of robotic manipulators with continuous control inputs have been considered. Under mild assumptions on kinematic formulation and dynamics of the robot manipulator, a continuous robust controller have been proposed. The proposed controller ensures asymptotic end-effector tracking despite the presence of unstructured uncertainties associated with the dynamical terms. Numerical simulations conducted on a two degree-of-freedom robot manipulator is also presented to illustrate the feasibility and performance of the proposed controller.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } textcopyright 2015 IEEE.In this work, the problem of robust task space control of robotic manipulators with continuous control inputs have been considered. Under mild assumptions on kinematic formulation and dynamics of the robot manipulator, a continuous robust controller have been proposed. The proposed controller ensures asymptotic end-effector tracking despite the presence of unstructured uncertainties associated with the dynamical terms. Numerical simulations conducted on a two degree-of-freedom robot manipulator is also presented to illustrate the feasibility and performance of the proposed controller. |
Bayrak, Alper; Tatlicioglu, Enver; Zergeroglu, Erkan; Deniz, Meryem A new continuous velocity observer formulation for a class of uncertain nonlinear mechanical systems Inproceedings 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings, 2015, ISBN: 9781479977871. @inproceedings{Bayrak2015a, title = {A new continuous velocity observer formulation for a class of uncertain nonlinear mechanical systems}, author = {Alper Bayrak and Enver Tatlicioglu and Erkan Zergeroglu and Meryem Deniz}, doi = {10.1109/CCA.2015.7320788}, isbn = {9781479977871}, year = {2015}, date = {2015-01-01}, booktitle = {2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings}, abstract = {textcopyright 2015 IEEE.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.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } textcopyright 2015 IEEE.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. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan Robust control of a rigid link in a cross flow Inproceedings 2015 European Control Conference, ECC 2015, 2015, ISBN: 9783952426937. @inproceedings{Bidikli2015a, title = {Robust control of a rigid link in a cross flow}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/ECC.2015.7330709}, isbn = {9783952426937}, year = {2015}, date = {2015-01-01}, booktitle = {2015 European Control Conference, ECC 2015}, abstract = {Remotely operated vehicles equipped with a robotic manipulator are utilized in several underwater/deep sea applications. Control of these type of systems are mostly provided by obtaining the proper position for the end effector of robotic manipulator which constitutes the desired motion for remotely operated vehicle. This situation makes the control of robotic manipulators is really important subject for underwater applications. In this work, we study tracking control of a one degree-of-freedom rigid link in a cross flow. Systems operating at underwater (including this one) are hard to model accurately, and as a result their models include several uncertainties. To reject these modeling uncertainties and external ones, two robust controllers are proposed. Stability of the closed-loop system and the asymptotic convergence of the tracking error are proven mathematically. Numerical simulations are performed to demonstrate the viability of the proposed controller. textcopyright 2015 EUCA.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } Remotely operated vehicles equipped with a robotic manipulator are utilized in several underwater/deep sea applications. Control of these type of systems are mostly provided by obtaining the proper position for the end effector of robotic manipulator which constitutes the desired motion for remotely operated vehicle. This situation makes the control of robotic manipulators is really important subject for underwater applications. In this work, we study tracking control of a one degree-of-freedom rigid link in a cross flow. Systems operating at underwater (including this one) are hard to model accurately, and as a result their models include several uncertainties. To reject these modeling uncertainties and external ones, two robust controllers are proposed. Stability of the closed-loop system and the asymptotic convergence of the tracking error are proven mathematically. Numerical simulations are performed to demonstrate the viability of the proposed controller. textcopyright 2015 EUCA. |
Dogan, Merve K; Tatlicioglu, Enver; Zergeroglu, Erkan; Cetin, Kamil Lyapunov-based output feedback learning control of robot manipulators Inproceedings Proceedings of the American Control Conference, 2015, ISSN: 07431619. @inproceedings{Dogan2015b, title = {Lyapunov-based output feedback learning control of robot manipulators}, author = {Merve K Dogan and Enver Tatlicioglu and Erkan Zergeroglu and Kamil Cetin}, doi = {10.1109/ACC.2015.7172173}, issn = {07431619}, year = {2015}, date = {2015-01-01}, booktitle = {Proceedings of the American Control Conference}, abstract = {textcopyright 2015 American Automatic Control Council.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.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } textcopyright 2015 American Automatic Control Council.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. |
Deniz, Meryem; Bidikli, Baris; Bayrak, Alper; Ozdemirel, Barbaros; Tatlicioglu, Enver Modelling twin rotor system with artificial neural networks Inproceedings 2015. @inproceedings{Deniz2015, title = {Modelling twin rotor system with artificial neural networks}, author = {Meryem Deniz and Baris Bidikli and Alper Bayrak and Barbaros Ozdemirel and Enver Tatlicioglu}, doi = {10.1109/siu.2015.7130042}, year = {2015}, date = {2015-01-01}, abstract = {In this study, the input output relation of the twin rotor system which was constructed in our laboratory is obtained by using ANNs. When compared with the existing literature, main advantage of this modelling approach is that multi input multi output ANN structure is used preferred. As a result of this approach, the cross coupling effects, between the rotors and also between the outputs, are taken into consideration. Thus, we sincerely believe that the obtained input output model demonstrates a close behavior to the real system.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } In this study, the input output relation of the twin rotor system which was constructed in our laboratory is obtained by using ANNs. When compared with the existing literature, main advantage of this modelling approach is that multi input multi output ANN structure is used preferred. As a result of this approach, the cross coupling effects, between the rotors and also between the outputs, are taken into consideration. Thus, we sincerely believe that the obtained input output model demonstrates a close behavior to the real system. |
Aksoy, Orhan; Zergeroglu, Erkan; Tatlicioglu, Enver Inverse optimal adaptive output feedback control of Euler-Lagrange systems: A variable structure observer based approach Inproceedings Proceedings of the IEEE Conference on Decision and Control, 2015, ISSN: 07431546. @inproceedings{Aksoy2015, title = {Inverse optimal adaptive output feedback control of Euler-Lagrange systems: A variable structure observer based approach}, author = {Orhan Aksoy and Erkan Zergeroglu and Enver Tatlicioglu}, doi = {10.1109/CDC.2015.7403427}, issn = {07431546}, year = {2015}, date = {2015-01-01}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, abstract = {— 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.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } — 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. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan Robust control design for positioning of an unactuated surface vessel Inproceedings IEEE International Conference on Intelligent Robots and Systems, 2015, ISSN: 21530866. @inproceedings{Bidikli2015b, title = {Robust control design for positioning of an unactuated surface vessel}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/IROS.2015.7353503}, issn = {21530866}, year = {2015}, date = {2015-01-01}, booktitle = {IEEE International Conference on Intelligent Robots and Systems}, abstract = {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.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } 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. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan Robust control design for positioning of an unactuated surface vessel Inproceedings IEEE International Conference on Intelligent Robots and Systems, 2015, ISSN: 21530866. @inproceedings{Bidikli2015c, title = {Robust control design for positioning of an unactuated surface vessel}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/IROS.2015.7353503}, issn = {21530866}, year = {2015}, date = {2015-01-01}, booktitle = {IEEE International Conference on Intelligent Robots and Systems}, abstract = {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.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } 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. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan A self tuning RISE controller formulation Inproceedings Proceedings of the American Control Conference, 2014, ISSN: 07431619. @inproceedings{Bidikli2014b, title = {A self tuning RISE controller formulation}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/ACC.2014.6859217}, issn = {07431619}, year = {2014}, date = {2014-01-01}, booktitle = {Proceedings of the American Control Conference}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan A robust tracking controller for dynamically positioned surface vessels with added mass Inproceedings Proceedings of the IEEE Conference on Decision and Control, 2014, ISSN: 07431546. @inproceedings{Bidikli2014a, title = {A robust tracking controller for dynamically positioned surface vessels with added mass}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/CDC.2014.7040073}, issn = {07431546}, year = {2014}, date = {2014-01-01}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, abstract = {— This work concentrates on tracking control of dynamically positioned surface vessels with asymmetric added mass terms affecting the system model at the acceleration level. Specifically, we propose a novel continuous robust controller for surface vessels that, in addition to asymmetric added mass in its inertia matrix, contains unstructured uncertainties in all its system matrices. The proposed controller compensates the overall system uncertainties and ensures asymptotic tracking, while requiring only the knowledge of the sign of the leading principle minors of the input gain matrix. Lyapunov based approaches are applied in order to prove the stability of the closed–loop system and asymptotic convergence of the tracking error signal.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } — This work concentrates on tracking control of dynamically positioned surface vessels with asymmetric added mass terms affecting the system model at the acceleration level. Specifically, we propose a novel continuous robust controller for surface vessels that, in addition to asymmetric added mass in its inertia matrix, contains unstructured uncertainties in all its system matrices. The proposed controller compensates the overall system uncertainties and ensures asymptotic tracking, while requiring only the knowledge of the sign of the leading principle minors of the input gain matrix. Lyapunov based approaches are applied in order to prove the stability of the closed–loop system and asymptotic convergence of the tracking error signal. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan Observer based output feedback tracking control of dynamically positioned surface vessels Inproceedings 2014. @inproceedings{Bidikli2014c, title = {Observer based output feedback tracking control of dynamically positioned surface vessels}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/acc.2013.6579895}, year = {2014}, date = {2014-01-01}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
Okur, Beytullah; Zergeroglu, Erkan; Tatlicioglu, Enver; Aksoy, Orhan Nonlinear adaptive partial state feedback trajectory tracking control of tendon driven robot manipulators Inproceedings 2014 IEEE Conference on Control Applications, CCA 2014, 2014, ISBN: 9781479974092. @inproceedings{Okur2014, title = {Nonlinear adaptive partial state feedback trajectory tracking control of tendon driven robot manipulators}, author = {Beytullah Okur and Erkan Zergeroglu and Enver Tatlicioglu and Orhan Aksoy}, doi = {10.1109/CCA.2014.6981356}, isbn = {9781479974092}, year = {2014}, date = {2014-01-01}, booktitle = {2014 IEEE Conference on Control Applications, CCA 2014}, abstract = {textcopyright 2014 IEEE. In this work, the link position tracking control problem of a tendon driven robotic system is studied in the presence of parametric uncertainty and lack of velocity measurements both of links and actuators. A partial state feedback nonlinear adaptive controller is proposed to deal with the unmeasurable states and uncertain dynamical system parameters. A backstepping approach has been utilized to develop the control strategy. The proposed nonlinear tracking controller utilizes online update laws to adapt for parametric uncertainties, and requires only link and actuator position measurements and tendon tension measurements. Need for link velocity measurements are eliminated by using a nonlinear filter, and a set of linear filters is designed to estimate the actuator velocities. Lyapunov based arguments have been applied to prove the stability of the closed-loop system and semi-global asymptotic link position tracking is achieved.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } textcopyright 2014 IEEE. In this work, the link position tracking control problem of a tendon driven robotic system is studied in the presence of parametric uncertainty and lack of velocity measurements both of links and actuators. A partial state feedback nonlinear adaptive controller is proposed to deal with the unmeasurable states and uncertain dynamical system parameters. A backstepping approach has been utilized to develop the control strategy. The proposed nonlinear tracking controller utilizes online update laws to adapt for parametric uncertainties, and requires only link and actuator position measurements and tendon tension measurements. Need for link velocity measurements are eliminated by using a nonlinear filter, and a set of linear filters is designed to estimate the actuator velocities. Lyapunov based arguments have been applied to prove the stability of the closed-loop system and semi-global asymptotic link position tracking is achieved. |
Tanyer, Ilker; Tatlicioglu, Enver; Zergeroglu, Erkan A robust adaptive tracking controller for an aircraft with uncertain dynamical terms Inproceedings IFAC Proceedings Volumes (IFAC-PapersOnline), 2014, ISSN: 14746670. @inproceedings{Tanyer2014, title = {A robust adaptive tracking controller for an aircraft with uncertain dynamical terms}, author = {Ilker Tanyer and Enver Tatlicioglu and Erkan Zergeroglu}, issn = {14746670}, year = {2014}, date = {2014-01-01}, booktitle = {IFAC Proceedings Volumes (IFAC-PapersOnline)}, abstract = {Abstract 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.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } Abstract 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. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan A self tuning RISE controller formulation Inproceedings Proceedings of the American Control Conference, 2014, ISSN: 07431619. @inproceedings{Bidikli2014bb, title = {A self tuning RISE controller formulation}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/ACC.2014.6859217}, issn = {07431619}, year = {2014}, date = {2014-01-01}, booktitle = {Proceedings of the American Control Conference}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan A robust tracking controller for dynamically positioned surface vessels with added mass Inproceedings Proceedings of the IEEE Conference on Decision and Control, 2014, ISSN: 07431546. @inproceedings{Bidikli2014ab, title = {A robust tracking controller for dynamically positioned surface vessels with added mass}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/CDC.2014.7040073}, issn = {07431546}, year = {2014}, date = {2014-01-01}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, abstract = {— This work concentrates on tracking control of dynamically positioned surface vessels with asymmetric added mass terms affecting the system model at the acceleration level. Specifically, we propose a novel continuous robust controller for surface vessels that, in addition to asymmetric added mass in its inertia matrix, contains unstructured uncertainties in all its system matrices. The proposed controller compensates the overall system uncertainties and ensures asymptotic tracking, while requiring only the knowledge of the sign of the leading principle minors of the input gain matrix. Lyapunov based approaches are applied in order to prove the stability of the closed–loop system and asymptotic convergence of the tracking error signal.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } — This work concentrates on tracking control of dynamically positioned surface vessels with asymmetric added mass terms affecting the system model at the acceleration level. Specifically, we propose a novel continuous robust controller for surface vessels that, in addition to asymmetric added mass in its inertia matrix, contains unstructured uncertainties in all its system matrices. The proposed controller compensates the overall system uncertainties and ensures asymptotic tracking, while requiring only the knowledge of the sign of the leading principle minors of the input gain matrix. Lyapunov based approaches are applied in order to prove the stability of the closed–loop system and asymptotic convergence of the tracking error signal. |
Bidikli, Baris; Tatlicioglu, Enver; Zergeroglu, Erkan Observer based output feedback tracking control of dynamically positioned surface vessels Inproceedings 2014. @inproceedings{Bidikli2014f, title = {Observer based output feedback tracking control of dynamically positioned surface vessels}, author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/acc.2013.6579895}, year = {2014}, date = {2014-01-01}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
Bayrak, Alper; Tatlicioglu, Enver; Bidikli, Baris; Zergeroglu, Erkan Robust adaptive control of nonlinear systems with unknown state delay Inproceedings 2013 9th Asian Control Conference, ASCC 2013, 2013, ISBN: 9781467357692. @inproceedings{Bayrak2013a, title = {Robust adaptive control of nonlinear systems with unknown state delay}, author = {Alper Bayrak and Enver Tatlicioglu and Baris Bidikli and Erkan Zergeroglu}, doi = {10.1109/ASCC.2013.6606225}, isbn = {9781467357692}, year = {2013}, date = {2013-01-01}, booktitle = {2013 9th Asian Control Conference, ASCC 2013}, abstract = {In this work, we propose a new robust adaptive controller for a class of multi-input multi-output nonlinear systems subject to uncertain state delay. The proposed method is proven to yield semi-global asymptotic tracking despite the presence of additive input and output disturbances and parametric uncertainty in the system dynamics. An adaptive desired system compensation in conjunction with a continuous nonlinear integral feedback component is utilized in the design of the controller and Lyapunov-based techniques, are used to prove that the tracking error is asymptotically driven to zero. Numerical simulation results are presented to demonstrate the effectiveness of the proposed method. textcopyright 2013 IEEE.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } In this work, we propose a new robust adaptive controller for a class of multi-input multi-output nonlinear systems subject to uncertain state delay. The proposed method is proven to yield semi-global asymptotic tracking despite the presence of additive input and output disturbances and parametric uncertainty in the system dynamics. An adaptive desired system compensation in conjunction with a continuous nonlinear integral feedback component is utilized in the design of the controller and Lyapunov-based techniques, are used to prove that the tracking error is asymptotically driven to zero. Numerical simulation results are presented to demonstrate the effectiveness of the proposed method. textcopyright 2013 IEEE. |
Tanyer, Ilker; Tatlicioglu, Enver; Zergeroglu, Erkan A robust dynamic inversion technique for asymptotic tracking control of an aircraft Inproceedings 2013 9th Asian Control Conference, ASCC 2013, 2013, ISBN: 9781467357692. @inproceedings{Tanyer2013, title = {A robust dynamic inversion technique for asymptotic tracking control of an aircraft}, author = {Ilker Tanyer and Enver Tatlicioglu and Erkan Zergeroglu}, doi = {10.1109/ASCC.2013.6606263}, isbn = {9781467357692}, year = {2013}, date = {2013-01-01}, booktitle = {2013 9th Asian Control Conference, ASCC 2013}, abstract = {— 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.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } — 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. |
Kapadia, Apoorva D; Walker, Ian D; Tatlicioglu, Enver Teleoperation control of a redundant continuum manipulator using a non-redundant rigid-link master Inproceedings IEEE International Conference on Intelligent Robots and Systems, 2012, ISSN: 21530858. @inproceedings{Kapadia2012, title = {Teleoperation control of a redundant continuum manipulator using a non-redundant rigid-link master}, author = {Apoorva D Kapadia and Ian D Walker and Enver Tatlicioglu}, doi = {10.1109/IROS.2012.6385990}, issn = {21530858}, year = {2012}, date = {2012-01-01}, booktitle = {IEEE International Conference on Intelligent Robots and Systems}, abstract = {In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask. |
Okur, Beytullah; Zergeroglu, Erkan; Tatlicioglu, Enver; Basaran, Sinan; Sivrioglu, Selim Observer based output feedback control of thrust magnetic bearings Inproceedings Proceedings of the IEEE Conference on Decision and Control, 2011, ISSN: 01912216. @inproceedings{Okur2011, title = {Observer based output feedback control of thrust magnetic bearings}, author = {Beytullah Okur and Erkan Zergeroglu and Enver Tatlicioglu and Sinan Basaran and Selim Sivrioglu}, doi = {10.1109/CDC.2011.6160791}, issn = {01912216}, year = {2011}, date = {2011-01-01}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, abstract = {In this paper, we present an observer based output feedback controller for a thrust magnetic bearing system. A model independent variable structure like observer is used to determine the rotor velocity in order to remove the velocity dependency of the controller. The desired system dynamics have been utilized in the controller design and asymptotic stability of the observer-controller couple is guaranteed via Lyapunov based arguments. Experimental results are presented to illustrate the performance and feasibility of the proposed method. textcopyright 2011 IEEE.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } In this paper, we present an observer based output feedback controller for a thrust magnetic bearing system. A model independent variable structure like observer is used to determine the rotor velocity in order to remove the velocity dependency of the controller. The desired system dynamics have been utilized in the controller design and asymptotic stability of the observer-controller couple is guaranteed via Lyapunov based arguments. Experimental results are presented to illustrate the performance and feasibility of the proposed method. textcopyright 2011 IEEE. |
Salah, Mohammad H; Bayrak, Alper; Tatlicioglu, Enver Filter-based control for parallel plate micro electrostatic actuators Inproceedings 2011 International Conference on Communications, Computing and Control Applications, CCCA 2011, 2011, ISBN: 9781424497959. @inproceedings{Salah2011a, title = {Filter-based control for parallel plate micro electrostatic actuators}, author = {Mohammad H Salah and Alper Bayrak and Enver Tatlicioglu}, doi = {10.1109/CCCA.2011.6031405}, isbn = {9781424497959}, year = {2011}, date = {2011-01-01}, booktitle = {2011 International Conference on Communications, Computing and Control Applications, CCCA 2011}, abstract = {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. textcopyright 2011 IEEE.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } 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. textcopyright 2011 IEEE. |
Zergeroglu, Erkan; Tatlicioglu, Enver Observer based adaptive output feedback tracking control of robot manipulators Inproceedings Proceedings of the IEEE Conference on Decision and Control, 2010, ISSN: 01912216. @inproceedings{Zergeroglu2010, title = {Observer based adaptive output feedback tracking control of robot manipulators}, author = {Erkan Zergeroglu and Enver Tatlicioglu}, doi = {10.1109/CDC.2010.5716953}, issn = {01912216}, year = {2010}, date = {2010-01-01}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, abstract = {This paper presents a solution to the problem of global, output feedback, tracking control of uncertain robot manipulators. Specifically, a desired compensation adaptation law plus a nonlinear feedback term coupled to a dynamic nonlinear filter is designed to produce global asymptotic link position tracking errors while compensating for parametric uncertainty and requiring only link position measurements. Simulation results are provided to illustrate the controller performance.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } This paper presents a solution to the problem of global, output feedback, tracking control of uncertain robot manipulators. Specifically, a desired compensation adaptation law plus a nonlinear feedback term coupled to a dynamic nonlinear filter is designed to produce global asymptotic link position tracking errors while compensating for parametric uncertainty and requiring only link position measurements. Simulation results are provided to illustrate the controller performance. |
Lee, Dong Bin; Burg, Timothy C; Dawson, Darren M; Shu, Dule; Xian, Bin; Tatlicioglu, Enver Robust tracking control of an underactuated quadrotor aerial-robot based on a parametric uncertain model Inproceedings Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, 2009, ISSN: 1062922X. @inproceedings{Lee2009, title = {Robust tracking control of an underactuated quadrotor aerial-robot based on a parametric uncertain model}, author = {Dong Bin Lee and Timothy C Burg and Darren M Dawson and Dule Shu and Bin Xian and Enver Tatlicioglu}, doi = {10.1109/ICSMC.2009.5346158}, issn = {1062922X}, year = {2009}, date = {2009-01-01}, booktitle = {Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics}, abstract = {In this paper, the tracking control of a underactuated quadrotor aerial vehicle is presented where position and yaw trajectory tracking is achieved using feedback control system. The control design is complicated by considering parametric uncertainty in the dynamic modeling of the quadrotor aerial-robot. Robust control schemes are then designed using a Lyapunov-based approach to compensate for the unknown parameters in each dynamic subsystem model. Lyapunov-type stability analysis suggests a global uniform ultimately bounded (GUUB) tracking result.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } In this paper, the tracking control of a underactuated quadrotor aerial vehicle is presented where position and yaw trajectory tracking is achieved using feedback control system. The control design is complicated by considering parametric uncertainty in the dynamic modeling of the quadrotor aerial-robot. Robust control schemes are then designed using a Lyapunov-based approach to compensate for the unknown parameters in each dynamic subsystem model. Lyapunov-type stability analysis suggests a global uniform ultimately bounded (GUUB) tracking result. |
Iyasere, Erhun; Dawson, Darren M; Wagner, John R; Salah, Mohammed; Tatlicioglu, Enver Nonlinear robust control to maximize energy capture in a variable speed wind turbine using an induction generator Inproceedings Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, 2009, ISSN: 1062922X. @inproceedings{Iyasere2009, title = {Nonlinear robust control to maximize energy capture in a variable speed wind turbine using an induction generator}, author = {Erhun Iyasere and Darren M Dawson and John R Wagner and Mohammed Salah and Enver Tatlicioglu}, doi = {10.1109/ICSMC.2009.5346675}, issn = {1062922X}, year = {2009}, date = {2009-01-01}, booktitle = {Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics}, abstract = {The emergence of wind turbine systems for electric power generation can help satisfy the growing global demand. This paper proposes a control strategy to maximize the wind energy captured in a variable speed wind turbine, with an internal induction generator, at low to medium wind speeds. The proposed strategy controls the tip speed ratio, via the rotor angular speed, to an optimum point at which the efficiency constant (or power coefficient) is maximal for a particular blade pitch angle and wind speed. This control method allows for aerodynamic rotor power maximization without exact wind turbine model knowledge. textcopyright2009 IEEE.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } The emergence of wind turbine systems for electric power generation can help satisfy the growing global demand. This paper proposes a control strategy to maximize the wind energy captured in a variable speed wind turbine, with an internal induction generator, at low to medium wind speeds. The proposed strategy controls the tip speed ratio, via the rotor angular speed, to an optimum point at which the efficiency constant (or power coefficient) is maximal for a particular blade pitch angle and wind speed. This control method allows for aerodynamic rotor power maximization without exact wind turbine model knowledge. textcopyright2009 IEEE. |
Lee, Dong Bin; Tatlicioglu, Enver; Burg, Timothy C; Dawson, Darren M Adaptive output tracking control of a surface vessel Inproceedings Proceedings of the IEEE Conference on Decision and Control, 2008, ISSN: 01912216. @inproceedings{Lee2008, title = {Adaptive output tracking control of a surface vessel}, author = {Dong Bin Lee and Enver Tatlicioglu and Timothy C Burg and Darren M Dawson}, doi = {10.1109/CDC.2008.4739313}, issn = {01912216}, year = {2008}, date = {2008-01-01}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, abstract = {In this paper, the tracking control of a three degree-of-freedom marine vessel is examined. The novelty of this work is the transformation of the asymmetric inertia matrix into a symmetric, positive definite matrix. The asymmetry arises from the added mass common to practical surface vessels and creates a significant challenge for control design. The control design is further complicated by the parametric uncertainties in the dynamic model of the vessel. Two adaptive control schemes with a projection-based adaptation law are proposed: a full-state feedback controller and an output feedback controller. Both controllers are known to yield a uniformly ultimately bounded tracking result in the presence of parametric uncertainty. Numerical simulation results are shown to demonstrate the validity of the proposed controllers.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } In this paper, the tracking control of a three degree-of-freedom marine vessel is examined. The novelty of this work is the transformation of the asymmetric inertia matrix into a symmetric, positive definite matrix. The asymmetry arises from the added mass common to practical surface vessels and creates a significant challenge for control design. The control design is further complicated by the parametric uncertainties in the dynamic model of the vessel. Two adaptive control schemes with a projection-based adaptation law are proposed: a full-state feedback controller and an output feedback controller. Both controllers are known to yield a uniformly ultimately bounded tracking result in the presence of parametric uncertainty. Numerical simulation results are shown to demonstrate the validity of the proposed controllers. |
Kapadia, Apoorva; Tatlicioglu, Enver; Dawson, Darren M Set-point navigation of a redundant robot in uncertain environments using finite range sensors Inproceedings Proceedings of the IEEE Conference on Decision and Control, 2008, ISSN: 01912216. @inproceedings{Kapadia2008, title = {Set-point navigation of a redundant robot in uncertain environments using finite range sensors}, author = {Apoorva Kapadia and Enver Tatlicioglu and Darren M Dawson}, doi = {10.1109/CDC.2008.4739225}, issn = {01912216}, year = {2008}, date = {2008-01-01}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, abstract = {In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation functionbased kinematic controller is proposed to ensure the regulation of the end-effector to a desired set-point while the entire manipulator simultaneously avoids the obstacle points detected by the sensors. A joint-space controller is then utilized to ensure asymptotic tracking of the desired jointspace trajectory.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation functionbased kinematic controller is proposed to ensure the regulation of the end-effector to a desired set-point while the entire manipulator simultaneously avoids the obstacle points detected by the sensors. A joint-space controller is then utilized to ensure asymptotic tracking of the desired jointspace trajectory. |
Tatlicioglu, Enver; Walker, Ian D; Dawson, Darren M New dynamic models for planar extensible continuum robot manipulators Inproceedings IEEE International Conference on Intelligent Robots and Systems, 2007, ISBN: 1424409128. @inproceedings{Tatlicioglu2007, title = {New dynamic models for planar extensible continuum robot manipulators}, author = {Enver Tatlicioglu and Ian D Walker and Darren M Dawson}, doi = {10.1109/IROS.2007.4399334}, isbn = {1424409128}, year = {2007}, date = {2007-01-01}, booktitle = {IEEE International Conference on Intelligent Robots and Systems}, abstract = {In this paper, the dynamic model for planar continuum manipulators that was presented in our previous work is extended to include new terms reflecting the effects of potential energy. First the gravitational potential energy of the manipulator is derived. Then, the elastic potential energy of the manipulator is derived for both bending and extension. Finally, the effects of the total potential energy are included in the dynamic model. Numerical simulation results are presented for a planar 3-section extensible continuum robot manipulator. The results show a much stronger match to physical continuum robots than with previously available models.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } In this paper, the dynamic model for planar continuum manipulators that was presented in our previous work is extended to include new terms reflecting the effects of potential energy. First the gravitational potential energy of the manipulator is derived. Then, the elastic potential energy of the manipulator is derived for both bending and extension. Finally, the effects of the total potential energy are included in the dynamic model. Numerical simulation results are presented for a planar 3-section extensible continuum robot manipulator. The results show a much stronger match to physical continuum robots than with previously available models. |
Tatlicioglu, Enver; Dawson, Darren M; Xian, Bin Adaptive visual servo regulation control for camera-in-hand configuration with a fixed-camera extension Inproceedings Proceedings of the IEEE Conference on Decision and Control, 2007, ISSN: 01912216. @inproceedings{Tatlicioglu2007b, title = {Adaptive visual servo regulation control for camera-in-hand configuration with a fixed-camera extension}, author = {Enver Tatlicioglu and Darren M Dawson and Bin Xian}, doi = {10.1109/CDC.2007.4434761}, issn = {01912216}, year = {2007}, date = {2007-01-01}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, abstract = {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.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } 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. |
Miscellaneous |
Lee, DB; Chitrakaran, VK; Burg, TC; Dawson, DM; Xian, B; Tatlicioglu, E Integrated Control of a Remotely Operated Quadrotor UAV and Camera Unit by Fly-The-Camera Perspective Miscellaneous 2009. @misc{pop00103, title = {Integrated Control of a Remotely Operated Quadrotor UAV and Camera Unit by Fly-The-Camera Perspective}, author = {DB Lee and VK Chitrakaran and TC Burg and DM Dawson and B Xian and E Tatlicioglu}, year = {2009}, date = {2009-01-01}, keywords = {}, pubstate = {published}, tppubtype = {misc} } |
PhD Theses |
Tatlicioglu, Enver Control of nonlinear mechatronic systems PhD Thesis 2007, ISBN: 9780549149811. @phdthesis{Tatlicioglu2007a, title = {Control of nonlinear mechatronic systems}, author = {Enver Tatlicioglu}, isbn = {9780549149811}, year = {2007}, date = {2007-01-01}, booktitle = {ProQuest Dissertations and Theses}, abstract = {This dissertation is divided into four self-contained chapters. In Chapter 1, an adaptive nonlinear tracking controller for kinematically redundant robot manipulators is presented. Past research efforts have focused on the end-effector tracking control of redundant robots because of their increased dexterity over their non-redundant counterparts. This work utilizes an adaptive full-state feedback quaternion based controller developed in 1] and focuses on the design of a general sub-task controller. This sub-task controller does not affect the position and orientation tracking control objectives, but instead projects a preference on the configuration of the manipulator based on sub-task objectives such as the following: singularity avoidance, joint limit avoidance, bounding the impact forces, and bounding the potential energy. In Chapter 2, two controllers are developed for nonlinear haptic and teleoperator systems for coordination of the master and slave systems. The first controller is proven to yield a semi-global asymptotic result in the presence of parametric uncertainty in the master and the slave dynamic models provided the user and the environmental input forces are measurable. The second controller yields a global asymptotic result despite unmeasurable user and environmental input forces provided the dynamic models of the master and slave systems are known. These controllers rely on a transformation and a flexible target system to allow the master system's impedance to be easily adjusted so that it matches a desired target system. This work also offers a structure to encode a velocity field assist mechanism to provide the user help in controlling the slave system in completing a pre-defined contour following task. For each controller, Lyapunov-based techniques are used to prove that both controllers provide passive coordination of the haptic/teleoperator system when the velocity field assist mechanism is disabled. When the velocity field assist mechanism is enabled, the analysis proves the coordination of the haptic/teleoperator system. Simulation results are presented for both controllers. In Chapter 3, two controllers are developed for flat multi-input/multi-output nonlinear systems. First, a robust adaptive controller is proposed and proven to yield semi-global asymptotic tracking in the presence of additive disturbances and parametric uncertainty. In addition to guaranteeing an asymptotic output tracking result, it is also proven that the parameter estimate vector is driven to a constant vector. In the second part of the chapter, a learning controller is designed and proven to yield a semi-global asymptotic tracking result in the presence of additive disturbances where the desired trajectory is periodic. A continuous nonlinear integral feedback component is utilized in the design of both controllers and Lyapunov-based techniques are used to guarantee that the tracking error is asymptotically driven to zero. Numerical simulation results are presented for both controllers. In Chapter 4, a new dynamic model for continuum robot manipulators is derived. The dynamic model is developed based on the geometric model of extensible continuum robot manipulators with no torsional effects. The development presented in this chapter is an extension of the dynamic model proposed in 2] (by Mochiyama and Suzuki) to include a class of extensible continuum robot manipulators. First, the kinetic energy of a slice of the continuum robot is evaluated. Next, the total kinetic energy of the manipulator is obtained by utilizing a limit operation (i.e., sum of the kinetic energy of all the slices). Then, the gravitational potential energy of the manipulator is derived. Next, the elastic potential energy of the manipulator is derived for both bending and extension. Finally, the dynamic model of a planar 3-section extensible continuum robot manipulator is derived by utilizing the Lagrange representation. Numerical simulation results are presented for a planar 3-section extensible continuum robot manipulator.}, keywords = {}, pubstate = {published}, tppubtype = {phdthesis} } This dissertation is divided into four self-contained chapters. In Chapter 1, an adaptive nonlinear tracking controller for kinematically redundant robot manipulators is presented. Past research efforts have focused on the end-effector tracking control of redundant robots because of their increased dexterity over their non-redundant counterparts. This work utilizes an adaptive full-state feedback quaternion based controller developed in 1] and focuses on the design of a general sub-task controller. This sub-task controller does not affect the position and orientation tracking control objectives, but instead projects a preference on the configuration of the manipulator based on sub-task objectives such as the following: singularity avoidance, joint limit avoidance, bounding the impact forces, and bounding the potential energy. In Chapter 2, two controllers are developed for nonlinear haptic and teleoperator systems for coordination of the master and slave systems. The first controller is proven to yield a semi-global asymptotic result in the presence of parametric uncertainty in the master and the slave dynamic models provided the user and the environmental input forces are measurable. The second controller yields a global asymptotic result despite unmeasurable user and environmental input forces provided the dynamic models of the master and slave systems are known. These controllers rely on a transformation and a flexible target system to allow the master system's impedance to be easily adjusted so that it matches a desired target system. This work also offers a structure to encode a velocity field assist mechanism to provide the user help in controlling the slave system in completing a pre-defined contour following task. For each controller, Lyapunov-based techniques are used to prove that both controllers provide passive coordination of the haptic/teleoperator system when the velocity field assist mechanism is disabled. When the velocity field assist mechanism is enabled, the analysis proves the coordination of the haptic/teleoperator system. Simulation results are presented for both controllers. In Chapter 3, two controllers are developed for flat multi-input/multi-output nonlinear systems. First, a robust adaptive controller is proposed and proven to yield semi-global asymptotic tracking in the presence of additive disturbances and parametric uncertainty. In addition to guaranteeing an asymptotic output tracking result, it is also proven that the parameter estimate vector is driven to a constant vector. In the second part of the chapter, a learning controller is designed and proven to yield a semi-global asymptotic tracking result in the presence of additive disturbances where the desired trajectory is periodic. A continuous nonlinear integral feedback component is utilized in the design of both controllers and Lyapunov-based techniques are used to guarantee that the tracking error is asymptotically driven to zero. Numerical simulation results are presented for both controllers. In Chapter 4, a new dynamic model for continuum robot manipulators is derived. The dynamic model is developed based on the geometric model of extensible continuum robot manipulators with no torsional effects. The development presented in this chapter is an extension of the dynamic model proposed in 2] (by Mochiyama and Suzuki) to include a class of extensible continuum robot manipulators. First, the kinetic energy of a slice of the continuum robot is evaluated. Next, the total kinetic energy of the manipulator is obtained by utilizing a limit operation (i.e., sum of the kinetic energy of all the slices). Then, the gravitational potential energy of the manipulator is derived. Next, the elastic potential energy of the manipulator is derived for both bending and extension. Finally, the dynamic model of a planar 3-section extensible continuum robot manipulator is derived by utilizing the Lagrange representation. Numerical simulation results are presented for a planar 3-section extensible continuum robot manipulator. |