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"Learn
from yesterday, live for today, hope
for tomorrow.
Theimportant thing is not to
stop questioning."
Albert
Einstein
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"In all
things of nature there is something of
the marvelous."
Aristotle
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Caner Odabaş
Department
of Electrical and Electronics Engineering
Bilkent
University
Ankara,
Turkey 06800
E-mail:
canero-at-ee.bilkent.edu.tr
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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.
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Last Update:
30.11.2014
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