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Articles by Enver Tatlicioglu
A novel nonlinear PID controller design with adaptive gains
Abstract In this study, a novel nonlinear PID controller is developed for a class of second-order nonlinear systems subject to uncertainties and external disturbances. The proposed control architecture preserves the intuitive structure of the conventional PID framework while enhancing it through a systematically designed nonlinear adaptation mechanism.
An Asymptotically Stable Self‐Adjusting Adaptive Fuzzy Logic‐Based Robust Controller Formulation for Robot Manipulators
Conflicts of Interest The authors declare no conflicts of interest. References 1, , , and , “In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques,” IEEE Access 12 (2024): 47672–47701.
A robust end effector tracking controller formulation for robot manipulators actuated via brushless DC motors with uncertainties
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Tracking control of robot manipulators actuated by brushless DC motors: Elimination of joint velocity measurements with a robust observer
BDC brushed direct current BLDC brushless direct current DC direct current dof degree of freedom FSFB full state feedback OFB output feedback PSFB partial state feedback 1 INTRODUCTION The increasing demand for accuracy and reliability in diverse application domains of robot manipulators has spurred extensive research into refining their control methods with the goal of improving performance and dependability.
A novel adaptive time delay identification technique
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An Extended Jacobian-Based Formulation for Operational Space Control of Kinematically Redundant Robot Manipulators With Multiple Subtask Objectives: An Adaptive Control Approach
Conkur, E. S. , and Buckingham, R. , 1997, “Clarifying the Definition of Redundancy as Used in Robotics,” Robotica, 15(5), pp. 583–586. [CrossRef] Siciliano, B. , 1990, “Kinematic Control of Redundant Robot Manipulators: A Tutorial,” J. Intell. Rob. Syst., 3(3), pp. 201–212. [CrossRef] Nakamura, Y. , 1991, Advanced Robotics Redundancy and Optimization, Addison-Wesley, Reading, MA. Siciliano, B. , and Khatib, O. , 2008, Springer Handbook of Robotics, Springer, Secaucus, NJ. Khatib, O.
On Operational Space Tracking Control of Robotic Manipulators With Uncertain Dynamic and Kinematic Terms
In this study, a continuous robust-adaptive operational space controller that ensures asymptotic end-effector tracking, despite the uncertainties in robot dynamics and on the velocity level kinematics of the robot, is proposed. Specifically, a smooth robust controller is applied to compensate the parametric uncertainties related to the robot dynamics while an adaptive update algorithm is used to deal with the kinematic uncertainties.
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