Now showing items 1-5 of 5
Learning control of robot manipulators with telerobotic applications
(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 ...
Robust output tracking control of an unmanned aerial vehicle subject to additive state dependent disturbance
(Institution of Engineering and Technology, 2016-09-19)
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 ...
On null-space control of kinematically redundant robot manipulators
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 ...
Non-linear control of variable-speed wind turbines with permanent magnet synchronous generators: A robust backstepping approach
(Taylor & Francis, 2016-01)
In this study, a robust backstepping approach for the control problem of the variable-speed wind turbine with a permanent magnet synchronous generator is presented. Specifically, to overcome the negative effects of parametric ...
A self-tuning velocity observer formulation for a class of nonlinear systems
This work presents the design and the corresponding stability analysis of a model free velocity observer formulation for nonlinear systems modeled by Euler-Lagrange formulation. The observation gains of the proposed ...