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Öğe A novel design of robust relay-discontinuous sliding mode controller for robot manipulators with parameter perturbations(Institute of Electrical and Electronics Engineers Inc., 2001) Parlakci, M.N.A.; Jafarov, E.M.; Istefanopulos, Y.; Belegradek, O.This paper represents a new approach for the design of variable structure control of robot manipulator systems with parameter perturbations. A new sliding mode control law is introduced with the idea of constructing a discontinuous relay controller. The approach is based on establishing the sufficient conditions for the existence of a sliding mode in the robot arm system. The techniques of matrix norm inequalities are used to cope with robustness issues. Moreover, some effective parameter-independent conditions are developed in a concise manner for the globally asymptotic stability of the multivariable system using linear matrix inequalities (LMI) and principle of Rayleigh's min/max matrix eigenvalue inequality. The stability conditions are derived by using the Lyapunov full quadratic form which is introduced to the robust robot control for the first time. By the newly derived sliding and stability conditions, a new variable structure control law is designed for the stabilization of the robot motion with parameter perturbations. The parameter perturbations of the robot motion are evaluated by the Frobenius norm. Simulation results have shown that the control performance of the robot system is satisfactory. © 2001 EUCA.Öğe Design of a static output feedback H-infinity controller for linear time-invariant systems: An LMI approach(Institute of Electrical and Electronics Engineers Inc., 2018) Parlakci, M.N.A.This note is concerned with the static output feedback (SOF) H-infinity controller design for linear timeinvariant systems. A sufficient bilinear matrix inequality (BMI) condition is developed for finding a stabilizing static output feedback H-infinity controller. For the first time, a novel cone complementary linearization approach within the context of linear matrix inequalities (LMI) is proposed to investigate the feasibility of the stabilizing controller synthesis along with a minimized H-infinity attenuation rate. The proposed method requires neither any apriori assumption generally made on the input/output matrices nor any application of a coordinate transformation. An example is presented for the application of the proposed scheme. © 2018 IEEE.Öğe PD-sliding mode controller for robot manipulators: A comparison analysis(2004) Parlakci, M.N.A.; Jafarov, E.M.; Istefanopulos, Y.This paper introduces a new robust position variable structure controller design method for robot position systems with parameter perturbations. In most situations, the exact knowledge of the robot dynamics does not exist. For this reason a robust variable structure PD-control scheme is proposed for the set-point regulation problem of robot systems. The controller compensates for the inexact information about the robot system. It uses only some robot bound parameters and measurable joint variables. The sufficient conditions are derived for the existence of a sliding mode in the robot system. The techniques of matrix norm inequalities are often addressed for robustness analysis of the controller. In addition, the stability conditions are also investigated in a global sense. Effective parameter-independent conditions are developed by using a full quadratic form of Lyapunov function. Comparative simulation results with classical PD-controller have been presented indicating that the sliding mode PD-like controller yields faster and smoother performance.Öğe Robust H-infinity Control of Linear Discrete-Time Systems with Uncertainties and Disturbances(Institute of Electrical and Electronics Engineers Inc., 2023) Parlakci, M.N.A.This paper presents an enhanced approach for synthesizing a robust static output feedback H-infinity controller for linear discrete-time systems with polytopic uncertainties and external disturbances. While this problem has been extensively studied in the literature, the proposed method distinguishes itself through the utilization of parameter-dependent Lyapunov functions and novel bounding techniques for bilinear terms. By employing a more flexible and accurate characterization of system dynamics and uncertainties, our approach achieves improved controller performance with less conservatism compared to existing methods. The formulation of the controller design problem involves converting the nonconvex optimization into a convex minimization one using a congruent transformation and the cone complementarity technique. This leads to a set of linear matrix inequality conditions that guarantee the existence of an effective robust output feedback H-infinity controller capable of mitigating the effects of uncertainties and disturbances on the system. Numerical simulations show that our proposed method outperforms existing results in terms of disturbance attenuation rates. © 2023 IEEE.Öğe Robust position and tracking variable structure PD-controllers design methods for robot manipulators with parameter perturbations(World Scientific and Engineering Academy and Society, 2003) Parlakci, M.N.A.; Jafarov, E.M.; Istefanopulos, Y.In this paper two types of new variable structure PD-like controllers with and without full dynamics knowledge are designed for position and tracking stabilization of robot manipulator systems with parameter perturbations. The main contribution of this work is the design of the tracking PD-controller for robot manipulators without using full dynamics knowledge. The position controller is built upon the well-known equivalent control method. The tracking controller does not require any exact information about the robot manipulator dynamics and employs only the measurable joint variables and bounds of some robot perturbed parameters. The sufficient conditions for the existence of a sliding mode and the rate of convergence are investigated. Moreover, the global asymptotical stability conditions are also derived with a Lyapunov full quadratic form used for the first time. Linear matrix inequalities are often addressed. Reduced design conditions are also derived. Both analytical and numerical comparisons with the Qu and Dorsey control laws and stability results are also emphasized. Simulations are carried out with a two-link direct drive robot arm model. The simulation results have shown that the control performance of the designed system is satisfactory.
