Scopus İndeksli Yayınlar Koleksiyonu
Permanent URI for this collectionhttps://hdl.handle.net/20.500.12573/395
Browse
2 results
Search Results
Article Citation - Scopus: 25Lyapunov Exponent Enhancement in Chaotic Maps With Uniform Distribution Modulo One Transformation(Akif AKGUL, 2022-03-30) Ablay, GünyazMost of the chaotic maps are not suitable for chaos-based cryptosystems due to their narrow chaotic parameter range and lacking of strong unpredictability. This work presents a nonlinear transformation approach for Lyapunov exponent enhancement and robust chaotification in discrete-time chaotic systems for generating highly independent and uniformly distributed random chaotic sequences. The outcome of the new chaotic systems can directly be used in random number and random bit generators without any post-processing algorithms for various information technology applications. The proposed Lyapunov exponent enhancement based chaotic maps are analyzed with Lyapunov exponents, bifurcation diagrams, entropy, correlation and some other statistical tests. The results show that excellent random features can be accomplished even with one-dimensional chaotic maps with the proposed approach. © 2023 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.