Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

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Browsing Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği by Author "Aksoy, Orhan"

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    Conference Object
    Citation - WoS: 3
    Citation - Scopus: 3
    Inverse Optimal Adaptive Output Feedback Control of Euler-Lagrange Systems: a Variable Structure Observer Based Approach
    (Institute of Electrical and Electronics Engineers Inc., 2015) Aksoy, Orhan; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver
    This work focuses on inverse optimal, observer based output feedback control of Euler-Lagrange systems. Specifically a variable structure observer based output feedback controller is proposed which aside from ensuring asymptotic position tracking also ensures that a positive cost function, penalizing control input performance, is minimized. Simulation studies performed on a two link planar robot manipulator are included to illustrate the overall performance and feasibility of the proposed controller. © 2015 IEEE.
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    Conference Object
    Citation - WoS: 2
    Citation - Scopus: 2
    Nonlinear Adaptive Partial State Feedback Trajectory Tracking Control of Tendon Driven Robot Manipulators
    (Institute of Electrical and Electronics Engineers Inc., 2014) Okur, Beytullah; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver; Aksoy, Orhan
    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. © 2014 IEEE.
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    Article
    Citation - WoS: 9
    Citation - Scopus: 13
    Nonlinear Robust Control of Tendon–driven Robot Manipulators
    (Springer Verlag, 2015-10) Okur, Beytullah; Aksoy, Orhan; Zergeroglu, Erkan; Tatlıcıoglu, Enver
    This work addresses the position tracking control problem for tendon–driven robotic mechanisms in the presence of parametric uncertainty and additive external disturbances. Specifically, a full state feedback nonlinear robust controller is proposed to tackle the link position tracking problem for tendon–driven robot manipulators with uncertain dynamical system parameters. A robust backstepping approach has been utilized to achieve uniformly ultimately bounded tracking performance despite the lack of exact knowledge of the dynamical parameters and presence of additive but bounded disturbance terms. Stability of the overall system is proven via Lyapunov based arguments. Simulation studies performed on a two link planar robot manipulator driven by a six tendon mechanism are presented to illustrate the effectiveness and viability of the proposed approach.
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    Article
    Citation - WoS: 6
    Citation - Scopus: 6
    On Adaptive Output Feedback Controf Robotic Manipulators With Online Disturbance Estimation
    (Springer Verlag, 2017-03) Aksoy, Orhan; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver
    The problem of disturbance estimation and compensation for adaptive output feedback type controllers are investigated. Specifically two adaptive output feedback controllers designed for robotic manipulators are extended to compensate external disturbances which are common in robotic applications with repetitive task. The uncertain disturbance term in the robot dynamics is modeled as a fixed term plus a combination of sinusoidal signals. The overall stability and convergence of the tracking error for both controllers is ensured via Lyapunov based analysis. Extensive simulation studies are presented to illustrate the feasibility of the proposed method.