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"Learn from yesterday, live for today, hope
for
tomorrow. Theimportant thing is not to
stop 
questioning."
Albert Einstein

"In all things of nature there is something of
the marvelous."
Aristotle

Caner Odabaş
  Department of Electrical and Electronics Engineering
  Bilkent University
  Ankara, Turkey 06800

  
  E-mail: canero-at-ee.bilkent.edu.tr


He conducts research broadly, but not limited to, in the following topics:
  • analysis and control of nonlinear mechanical systems,
  • optimal control,
  • neural networks.
Adaptive Height Control of a single-legged robot system
Comparing with the multi legged robots, single legged robots have only one type of locomotion gait, i.e hopping.  This hybrid motion includes highly nonlinear dynamical behaviour consisting of alternating flight and stance phases. In this research, our aim is to model dynamics of a spring-mass hopper first. Then, combining the system with a slider-crank mechanism and a simple controller, control of the height will be achieved.

Friction Compensation for Time Delayed Systems
In real life feedback control applications of mechanical systems, friction and time delays are two important issues that might have direct effects on the performance of systems. Hence, an adaptive nonlinear observer based friction compensation for a special time delayed system is presented in this study. Considering ex- isting delay, an available Coulomb observer is modified and closed loop system is formed by using a Smith predictor based controller as if the process is delay free. Implemented hierarchical feedback system structure provides two-degree of freedom and controls both velocity and position separately. For this purpose, controller parametrization method is used to extend Smith predictor structure to the position control loop for different types of inputs and disturbance attenu- ation. Simulation results demonstrate that without requiring much information about friction force, the method can significantly improve the performance of a control system in which it is applied.

 Last Update: 30.11.2014