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Full-Text Articles in Computer Engineering
Adaptive Output Tracking Of Distributed Parameter Systems, İhsan Berk Altiner, Mustafa Doğan, Janset Daşdemi̇r
Adaptive Output Tracking Of Distributed Parameter Systems, İhsan Berk Altiner, Mustafa Doğan, Janset Daşdemi̇r
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, we consider the unknown trajectory tracking problem for stable distributed parameter systems. The main assumptions are that trajectory signals are generated by an unknown finite-dimensional exosystem that is a marginally stable system and the tracking error is available for measurement. In order to achieve perfect error regulation, a frequency estimator scheme is proposed to estimate unknown exosystem parameters, and the control law that is designed based on geometric output regulation theory is revisited. The success of the proposed method is demonstrated on a parabolic heat equation and a first-order hyperbolic partial differential equation.
Constrained Discrete-Time Optimal Control Of Uncertain Systems With Adaptivelyapunov Redesign, Oğuz Han Altintaş, Ali̇ Emre Turgut
Constrained Discrete-Time Optimal Control Of Uncertain Systems With Adaptivelyapunov Redesign, Oğuz Han Altintaş, Ali̇ Emre Turgut
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, the conventional estimation-based receding horizon control paradigm is enhanced by using functional approximation, the adaptive modifications on state estimation and convex projection notion from optimization theory. The mathematical formalism of parameter adaptation and uncertainty estimation procedure are based on the redesign of optimal state estimation in discrete-time. By using Lyapunov stability theory, it is shown that the online approximation of uncertainties acting on both physical system and state estimator can be obtained. Moreover, the convergence criteria for online parameter adaptation with fully matched and partially matched cases are presented and shown. In addition, it is shown that …
Nonlinear Adaptive Semiactive Control Of A Half-Vehicle Model Via Hardware In The Loop Simulation, Mahmut Paksoy, Muzaffer Meti̇n
Nonlinear Adaptive Semiactive Control Of A Half-Vehicle Model Via Hardware In The Loop Simulation, Mahmut Paksoy, Muzaffer Meti̇n
Turkish Journal of Electrical Engineering and Computer Sciences
In this study, vehicle body vibrations are semiactively controlled using a nonlinear adaptive controller designed to improve passenger comfort by guaranteeing closed loop system stability under variable road disturbances with parametric uncertainty. Semiactive vibration control is implemented to the system through the magnetorheological damper. The MR damper test system is established in laboratory conditions, and the required values that are measured from the test system are used in computer simulations via the hardware in the loop simulation (HILS) method. By this way, it is possible to avoid the financial and other difficulties of the experimental study by establishing the test …
A Mechanism Of Qos Differentiation Based On Offset Time And Adjusted Burstlength In Obs Networks, Viet Minh Nhat Vo, Trung Duc Pham, Thanh Chuong Dang, Van Hoa Le
A Mechanism Of Qos Differentiation Based On Offset Time And Adjusted Burstlength In Obs Networks, Viet Minh Nhat Vo, Trung Duc Pham, Thanh Chuong Dang, Van Hoa Le
Turkish Journal of Electrical Engineering and Computer Sciences
Quality of service (QoS) differentiation is an integral component of any networking system, particularly, with the current and future great diversity of users? applications and their manifold requirements. In optical burst switching (OBS) networks, there are two approaches for QoS differentiation: one is based on offset time and the other is based on burst length. This paper presents a mechanism of QoS differentiation based on both offset time and burst length, in which the offset times are calculated to achieve a complete isolation of data loss between priority classes and the burst length is adaptively adjusted according to the feedbacked …
Adaptive Fast Sliding Neural Control For Robot Manipulator, Bariş Özyer
Adaptive Fast Sliding Neural Control For Robot Manipulator, Bariş Özyer
Turkish Journal of Electrical Engineering and Computer Sciences
Robotic manipulators are open to external disturbances and actuation failures during performing a task such as trajectory tracking. In this paper, we present a modifed controller consisting of a global fast sliding surface combined with an adaptive neural network which is called adaptive fast sliding neural control (AFSNC) for a robotic manipulator to precise stable trajectory tracking performance under the external disturbances. The adaptive term is employedtoreduce uncertainties due to unmodeled dynamics. Trackingerror asymptoticallyconvergesto zero according to the Lyapunov stability theorem. Numerical examples have been carried on a planar two-links manipulator to verify the control approach efficiency. The experimental results …
A New Technique For Optimum Excitation Of Switched Reluctance Motor Drives Over A Wide Speed Range, Mahmoud Hamouda, László Számel
A New Technique For Optimum Excitation Of Switched Reluctance Motor Drives Over A Wide Speed Range, Mahmoud Hamouda, László Számel
Turkish Journal of Electrical Engineering and Computer Sciences
Optimum performance of switched reluctance motors (SRMs) over a wide range of speed control is an essential approach for many industrial applications. However, the doubly salient structure and deep magnetic saturation make magnetization characteristics of SRMs a highly nonlinear function of rotor position and current magnitude. This, in turn, makes the control of SRM drives a challenging task. As the control of SRMs depends on the inductance profile, it requires an adaptive control technique for optimum operation over a wide range of operating speeds. This paper presents an adaptive control technique for optimum excitation of SRM drives. The proposed control …
Design Of Adaptive Compensators For The Control Of Robot Manipulators Robust To Unknown Structured And Unstructured Parameters, Recep Burkan
Design Of Adaptive Compensators For The Control Of Robot Manipulators Robust To Unknown Structured And Unstructured Parameters, Recep Burkan
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, a new adaptive-robust control approach for robot manipulators is developed. The adaptive-robust control law is not only robust to unknown structured parameters but also robust to unknown unstructured parameters such as unstructured joint friction and disturbances. The bounded disturbances and unstructured model are taken into account in a dynamic model and it is assumed that the structured and unstructured parameters are unknown. The structured and unstructured parameters are distinguished between parameters and these parameters are treated separately. Next, new parameter estimation functions are developed for each of the 2 uncertainty groups. After that, the developed dynamic adaptive …
Direct Adaptive Fuzzy Sliding Mode Decoupling Control For A Class Of Underactuated Mechanical Systems, Fares Nafa, Salim Labiod, Hachemi Chekireb
Direct Adaptive Fuzzy Sliding Mode Decoupling Control For A Class Of Underactuated Mechanical Systems, Fares Nafa, Salim Labiod, Hachemi Chekireb
Turkish Journal of Electrical Engineering and Computer Sciences
Motivated by the dynamic characteristics of underactuated mechanical systems with 2 degrees of freedom, a decoupling adaptive fuzzy sliding mode decoupling controller (DAFSMDC) is presented in this paper. By exploiting the universal approximation property of fuzzy logic systems and the sliding mode control method, this paper proposes a new decoupling strategy of the system into 2 second-order subsystems and introduces an adaptive control algorithm that guarantees the convergence of both subsystems. Since fuzzy systems are used to approximate an unknown ideal controller, the adjustable parameters of the used fuzzy systems are updated using a gradient descent algorithm that is designed …
On-Line Self-Learning Pid Controller Design Of Sssc Using Self-Recurrent Wavelet Neural Networks, Soheil Ganjefar, Mojtaba Alizadeh
On-Line Self-Learning Pid Controller Design Of Sssc Using Self-Recurrent Wavelet Neural Networks, Soheil Ganjefar, Mojtaba Alizadeh
Turkish Journal of Electrical Engineering and Computer Sciences
Conventionally, FACTS devices employ a proportional-integral (PI) controller as a supplementary controller. However, the conventional PI controller has many disadvantages. The present paper aims to propose an on-line self-learning PI-derivative (PID) controller design of a static synchronous series compensator for power system stability enhancement and to overcome the PI controller problems. Unlike the PI controllers, the proposed PID controller has a local nature because of its powerful adaption process, which is based on the back-propagation (BP) algorithm that is carried out through an adaptive self-recurrent wavelet neural network identifier (ASRWNNI). In fact, the PID controller parameters are updated in on-line …
Design Parameters And Uncertainty Bound Estimation Functions For Adaptive-Robust Control Of Robot Manipulators, Recep Burkan
Design Parameters And Uncertainty Bound Estimation Functions For Adaptive-Robust Control Of Robot Manipulators, Recep Burkan
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, a parameter and uncertainty bound estimation functions for adaptive-robust control of robot manipulators are developed. A Lyapunov function is defined and parameters and uncertainty bound estimation functions are developed based on the Lyapunov function. Thus, stability of an uncertain system is guaranteed and uniform boundedness of the tracking error is achieved. As distinct from previous parameter and bound estimation laws, the parameters and uncertainty bounds are updated as a function of a combination of trigonometric function depending on robot parameters and tracking error. Based on the same Lyapunov function, a robust control law is also defined and …
A Robust Adaptive Fuzzy Control Of A Unified Power Flow Controller, Sebaa Morsli, Allaoui Tayeb, Denai Mouloud, Chaker Abdelkader
A Robust Adaptive Fuzzy Control Of A Unified Power Flow Controller, Sebaa Morsli, Allaoui Tayeb, Denai Mouloud, Chaker Abdelkader
Turkish Journal of Electrical Engineering and Computer Sciences
This paper investigates the control of a unified power flow controller (UPFC) to improve the stability of a power system, hence providing security under increased power flow conditions. The proposed control methods include a direct proportional and integral (PI) controller and an adaptive fuzzy logic controller (AFLC). The performances of these controllers were evaluated under different operating conditions of the power system and the results demonstrated that PI and AFLC are very effective in improving the transient power system stability and very robust against variable transmission line parameters.
Modeling And Control Of Flow Problems By Adaptation-Based Linear Parameter Varying Models, Coşku Kasnakoğlu
Modeling And Control Of Flow Problems By Adaptation-Based Linear Parameter Varying Models, Coşku Kasnakoğlu
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper a systematic modeling and control approach for flow problems is considered. A nonlinear Galerkin model is obtained from the partial differential equations (PDEs) describing the flow; and a Linear Parameter Varying (LPV) model is constructed to approximate the Galerkin model, where the parameter variation of the LPV model is controller by an adaptation mechanism. The LPV model is then treated as a surrogate on which the control design is carried out, where the parameter variations provide a range of uncertainty in which the control design must perform satisfactorily. It is shown that if certain conditions are met, …
Experimental Investigation Of Shaft Transducerless Speed And Position Control Of Ac Induction And Interior Permanent Magnet Motors, Ömer Göksu, Ahmet Masum Hava
Experimental Investigation Of Shaft Transducerless Speed And Position Control Of Ac Induction And Interior Permanent Magnet Motors, Ömer Göksu, Ahmet Masum Hava
Turkish Journal of Electrical Engineering and Computer Sciences
In order to drive AC motors with high efficiency and high motion performance, and to provide accurate speed/position control, motor shaft speed and/or position feedback is required. For this purpose, usually transducers (encoder, tachogenerator, resolver, etc.) are installed on the shaft. However, transducers are not preferred in most of the applications since they increase the cost and decrease the reliability of the drive due to their failure prone structure and connections. In such applications, the speed and/or position information of the motor is obtained by estimation methods without using shaft transducers. In this work, motor types and speed/position estimation methods …
Fault Tolerant Control With Re-Configuring Sliding-Mode Schemes, Ufuk Demi̇rci̇, Feza Kerestecioğlu
Fault Tolerant Control With Re-Configuring Sliding-Mode Schemes, Ufuk Demi̇rci̇, Feza Kerestecioğlu
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, a controller design method for linear MIMO systems is presented which a sliding mode controller is reconfigured in case of system faults. Faults are detected with the residual vector generated from a standard linear observer. Once a fault has been detected the fault distribution matrix can be obtained and used to update the corrective or equivalent control parts of the sliding mode controller. As a result, fault tolerant adaptive controllers keep the system performance within acceptable limits or at least avoids the system to wind-up.