Filtreler

2014 - 20163
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Yazar: Dinçmen, Erkin × İndeks: Conference Proceedings Citation Index – Science (CPCI-S) ×

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Listeleniyor 1 - 3 / 3
  • Küçük Resim
    Yayın
    A global optimal control methodology and its application to a mobile robot model
    (Elsevier B.V., 2016) Dinçmen, Erkin
    A global optimal control algorithm is developed and applied to an omni-directional mobile robot model. The aim is to search and find the most intense signal source among other signal sources in the operation region of the robot. In other words, the control problem is to find the global extremum point when there are local extremas. The locations of the signal sources are unknown and it is assumed that the signal magnitudes are maximum at the sources and their magnitudes are decreasing away from the sources. The distribution characteristics of the signals are unknown, i.e. the gradients of the signal distribution functions are unknown. The control algorithm also doesn't need any position measurement of the robot itself. Only the signal magnitude should be measured via a sensor mounted on the robot. The simulation study shows the performance of the controller.
  • Küçük Resim
    Yayın
    Adaptive extremum seeking scheme for ABS control
    (IEEE, 2014) Dinçmen, Erkin
    A sliding mode based extremum seeking algorithm is applied to the ABS control problem where the optimum slip ratio is searched online for maximum braking force in unknown road conditions. By making the parameter of the search algorithm adaptive, an adaptive extremum seeking scheme is proposed to improve the behavior of the controlled system around the optimum operating point. Simulation study is presented to illustrate the effectiveness of the methodology.
  • Küçük Resim
    Yayın
    Self optimizing ABS control algorithm with application
    (Institute of Electrical and Electronics Engineers Inc, 2015) Dinçmen, Erkin; Altınel, Tunç
    A self optimizing control algorithm is applied to the ABS control problem where the algorithm accomplishes to maximize friction potential of the tires during braking in unknown road conditions. Simulation studies are conducted to show effectiveness of the controller. The algorithm is also tested in an experimental setup. In order to control a real electromechanical braking system, necessary observers are designed and integrated with the algorithm. Experimental study shows the performance of the control algorithm.