Scopus İndeksli Yayınlar Koleksiyonu
Permanent URI for this collectionhttps://hdl.handle.net/20.500.12573/395
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Conference Object Citation - WoS: 2Citation - Scopus: 2PI-V plus Sliding Mode Based Cascade Control of Magnetic Levitation(Institute of Electrical and Electronics Engineers Inc., 2015-11) Eroǧlu, Yakup; Ablay, GünyazMagnetic levitation systems are able to provide frictionless, reliable, fast and economical operations in wide-range applications. The effectiveness and applicability of these systems require precise feedback control design. The position control problem of the magnetic levitation can be solved with robust current control approaches. A cascade control approach consisting of PI-velocity plus sliding mode control (PI-V plus SMC) is designed to render high control performance and robustness to the magnetic levitation. It will be shown that the SMC designed for electrical part of the plant (current controller) is able to eliminate the effects of the inductance related uncertainties of the electromagnetic coil of the plant. Experimental results are provided to validate the efficacy of the approach. © 2016 Elsevier B.V., All rights reserved.Article Citation - Scopus: 2A Model-Free Continuous Integral Sliding Mode Controller for Robust Control of Robotic Manipulators(Intelektual Pustaka Media Utama, 2023-03-01) Ablay, GünyazThis paper proposes a model-free continuous integral sliding mode controller for robust control of robotic manipulators. The highly nonlinear dynamics of robots and load disturbances cause control challenges. To achieve tracking control under load disturbances and nonlinear parameter variations, the controller is constructed with three continuous terms including an integral term that acts as an adaptive controller. The proposed controller is able to accomplish a non-overshoot transient response, a short settling time, and strong disturbance rejection performance for robotic manipulators. The developed model-free control method is implemented on the PUMA 560 robotic manipulator, and its performance is compared with the proportional-derivative (PD) plus gravity controller. Numerical results under measurement noise and load disturbances are provided in order to show the efficacy, validity, and feasibility of the method. © 2024 Elsevier B.V., All rights reserved.