A5072090223- Adaptive Control of Nonlinear Systems
- Teleoperation and Haptic Systems
- Robot Manipulation and Learning
- Iterative Learning Control Systems
- Advanced Control Systems Optimization
- Hydraulic and Pneumatic Systems
- Robotic Path Planning Algorithms
- Stability and Control of Uncertain Systems
- Fuzzy Logic and Control Systems
- Robotic Locomotion and Control
- Sensorless Control of Electric Motors
- Robotic Mechanisms and Dynamics
- Optical Imaging and Spectroscopy Techniques
- Fault Detection and Control Systems
- Robotics and Sensor-Based Localization
- Control and Stability of Dynamical Systems
- Cavitation Phenomena in Pumps
- Embedded Systems and FPGA Applications
- Spectroscopy Techniques in Biomedical and Chemical Research
- Prosthetics and Rehabilitation Robotics
- Autonomous Vehicle Technology and Safety
- Image and Object Detection Techniques
- Guidance and Control Systems
- Non-Invasive Vital Sign Monitoring
- Anomaly Detection Techniques and Applications
Ege University
2013-2025
University of Waterloo
2025
Abstract In this study, task space tracking control of robot manipulators driven by brushless DC (BLDC) motors is considered. Dynamics actuators are taken into account and the entire electromechanical system (i.e. kinematic, dynamic, electrical models) assumed to include parametric/structured uncertainties. A novel adaptive controller designed stability closed loop ensured via Lyapunov type tools. To demonstrate performance applicability proposed method, a simulation study conducted using...
Abstract This study addresses the end‐effector position tracking control of robot manipulators actuated by brushless direct current (BLDC) motors under constraint that entire electromechanical system (i.e. kinematic, dynamic, and electrical) contains uncertain parameters, both joint velocity Cartesian space measurements are unavailable. Specifically, a partial state feedback controller (requiring phase BLDC motors) is presented in conjunction with novel robust observer formulation achieves...
ABSTRACT This study concentrates on end effector tracking control of robotic manipulators actuated by brushless direct current (BLDC) motors, having parametric uncertainties in their kinematic, dynamical and electrical sub‐systems. Specifically, an operational space controller formulation is proposed that does not rely inverse kinematics calculations at position level still ensures practical despite the presence related to mechanical dynamics, manipulator. Compensation for throughout entire...
Abstract This work introduces an innovative robust partial state feedback controller designed for robotic manipulators actuated by brushless DC motors. The proposed controller/observer structure relies solely on actuator current and robot joint position measurements, while effectively compensating dynamic uncertainties in both the electrical (actuator dynamics) mechanical (robot's dynamical terms) subsystems. Specifically, a model–based observer, eliminating need of velocity is combined with...
Abstract Bipedal robots by their nature show both hybrid and underactuated system features which are not stable controllable at every point of joint space. They only on certain fixed equilibrium points some trajectories that periodically between these points. Therefore, it is crucial to determine the trajectory in control walking robots. However, optimization causes a heavy computational load. Conventional methods reduce load weaken accuracy. As solution, variable time interval method...
In the present study, a sensorless method is proposed to determine operating point on pump curves in BLDC-driven centrifugal pump, and certain functional implementations of are investigated. To develop system, calibration defined for setup time. System variables such as head, flow, power determined at runtime based data control algorithm BLDC motor. Thus, beneficial improvements achieved systems, since only motor phase current sensors required runtime. These parameters used force system into...
Diabetes is a widespread and serious disease noninvasive measurement has been in high demand. To address this problem, power spectral density-based method was offered for determining glucose sensitive sub-bands the nearinfrared (NIR) spectrum. The experiments were conducted using phantoms of different optical properties in-vitro conditions. bands 1200–1300[Formula: see text]nm 2100–2200[Formula: found feasible measuring blood glucose. After that, photoplethysmography (PPG)-based low cost...
In this study, we aim to provide the dynamic walking of a five-link planar bipedal robot without need for optimization and regardless initial conditions. Since robots are underactuated systems, classical control methods cannot be applied. Joint trajectories must determined robot. The that will allow biped walk can derived with trajectory optimization. Periodic stability balance provided by following virtual constraints method. However, determining optimization-based before is weakness As...
Quadrocopter is an aerial vehicle platform which has become very popular among researchers in the recent past due to advantages it offers over conventional helicopters. simple structure, but inherently unstable from aerodynamics point of view. The first step before control stage presenting adequate modeling system dynamic. This paper presents dynamic model quadrocopter as regarding Newtons Laws with kinematic equations. Presented simulated Matlab-Simulink for testing translational and...
Çalışmamız kapsamında, eklemleri fırçasız doğru akım (DA) motorları kullanılarak sürülen ve hem dinamik de kinematik modelinde parametrik belirsizlikler içeren robot kolları için, eyleyici dinamikleri denetleyici tasarımına dahil edilerek uyarlamalı görev uzayı takip denetleyicisi tasarımı gerçekleştirilmiştir. Denetleyici tasarımının doğrudan uzayında gerçekleştirilmesi sayesinde pozisyon seviyesinde ters kinematiğin hesaplanmasına ihtiyaç duyulmamaktadır. Geliştirilen tam durum geri...