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Browsing by Author "Tatlıcıoğlu, Enver"
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Adaptive control of redundant robot manipulators with sub-task objectives
Tatlıcıoğlu, Enver; Braganza, David; Burg, Timothy C.; Dawson, Darren M. (Cambridge University Press, 2009-10)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 ... -
Adaptive output tracking control of a surface vessel
Lee, Dongbin; Tatlıcıoğlu, Enver; Burg, Timothy C.; Dawson, Darren M. (IEEE, 2008)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 ... -
An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics
Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Bayrak, Alper (Taylor & Francis, 2016-09)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 ... -
Cerrahın anlık yönlendirilebildiği robot yardımlı endoskop kontrol sistemi mimarisi - NeuRoboScope
Dede, Mehmet İsmet Can; Kiper, Gökhan; Ayav, Tolga; Tatlıcıoğlu, Enver; Özdemirel, Barbaros; Maaroof, Omar; Ateş, Gizem; Berker, Mustafa; Işıkay, İlkay; Hanalioğlu, Şahin (Boğaziçi Üniversitesi, 2018-04-12)Bu bildiride ele alınan çalışmada endoskopik hipofiz cerrahisinde kullanılan optik-kamera sistemini, cerrahın anlık isteklerini takip ederek yönlendirilmesine izin verecek robotik sistem geliştirilmektedir. Cerrah kendisi ... -
Charge feedback-based robust position tracking control for piezoelectric actuators
Salah, M. H.; McIntyre, M. L.; Dawson, Darren M.; Wagner, John R.; Tatlıcıoğlu, Enver (Institution of Engineering and Technology, 2012-03)n this study, the Coleman-hysteresis model is utilised in the piezoelectric actuator (PZTA) dynamic model and a non-linear robust control strategy is then developed to actively control the displacement of the PZTA effective ... -
Compensating of added mass terms in dynamically positioned surface vehicles: A continuous robust control approach
Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan (Elsevier, 2017)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 ... -
Compensator design for twin rotor systems
Deniz, Meryem (Izmir Institute of Technology, 2015-07)In this thesis study, modeling and control of the in-house developed twin rotor systems are aimed. Firstly, two input-output models are obtained by using experimentally collected data. One model is obtained as transfer ... -
Compliance control of SHAD redundant robot
Kanık, Mert (Izmir Institute of Technology, 2018-12)SHAD robot, which is located in IYTE Robotics Laboratory, is designed as a 4 degrees-of-freedom manipulator which has a PRRR serial kinematic structure. The prismatic joint works along the vertical axis, and the revolute ... -
Control of redundant robot manipulators with telerobotic applications
Çetin, Kamil (Izmir Institute of Technology, 2016-11)This thesis focuses on task-space control of kinematically redundant robot manipulators with telerobotic applications. The first aim is to design asymptotically stable sub-task controllers for kinematically redundant robot ... -
Design and development of an educational desktop robot R3D
Şahin, Osman Nuri; Uzunoğlu, Emre; Tatlıcıoğlu, Enver; Dede, Mehmet İsmet Can (Wiley, 2017-03)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 ... -
Design of an experimental twin-rotor multi-input multi-output system
Bayrak, Alper; Doğan, Fırat; Tatlıcıoğlu, Enver; Özdemirel, Barbaros (Wiley, 2015-07)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 ... -
Development of nonlinear robust control techniques for unmanned aerial vehicles
Tanyer, İlker (Izmir Institute of Technology, 2015-07)In this thesis, model reference output tracking control of unmanned aircraft vehicles are aimed. The control problem is complicated due to the lack of accurate knowledge of nonlinear system dynamics and additive ... -
A dynamic model free observer based output feedback tracking control of robot manipulators in task-space
Çobanoğlu, Necati; Çetin, Kamil; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan (Institute of Electrical and Electronics Engineers, 2018)This paper addresses the output feedback end-effector position tracking control of robotic manipulators. Specifically, via the design of a novel dynamic model independent observer constructed through a Lyapunov type analysis ... -
Euclidean position estimation of static features using a moving uncalibrated camera
Nath, Nitendra; Dawson, Darren M.; Tatlıcıoğlu, Enver (IEEE, 2009)In this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on a moving platform is developed to asymptotically recover the three-dimensional (3D) Euclidean position of static ... -
Euclidean position estimation of static features using a moving uncalibrated camera
Nath, Nitendra; Dawson, Darren M.; Tatlıcıoğlu, Enver (IEEE, 2012-03)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 ... -
Filter-based control for parallel plate micro electrostatic actuators
Salah, Mohammed H.; Bayrak, Alper; Tatlıcıoğlu, Enver (IEEE, 2011)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 ... -
Inverse optimal adaptive output feedback control of Euler-Lagrange systems: A variable structure observer based approach
Aksoy, Orhan; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver (IEEE, 2015)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 ... -
Learning control of robot manipulators in task space
Doğan, Kadriye Merve; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Çetin, Kamil (Wiley, 2018-05)Two important properties of industrial tasks performed by robot manipulators, namely, periodicity (i.e., repetitive nature) of the task and the need for the task to be performed by the end-effector, motivated this work. ... -
Learning control of robot manipulators in the presence of additive disturbances
Tatlıcıoğlu, Enver (TÜBİTAK, 2011)In this paper, a learning controller for robot manipulators is developed. The controller is proven to yield in a semi-global asymptotic result in the presence of additive input and output disturbances. Lyapunovbased ... -
Learning control of robot manipulators with telerobotic applications
Doğan, Kadriye Merve (Izmir Institute of Technology, 2016-06)Learning control of teleoperation systems that can be utilized in telerehabilition applications is investigated in this thesis. Specifically, considering the fact that in rehabilitation the patient is required to perform ...
