Browsing by Author "Morgül, Ömer"
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Nonlinear PDE control of twolink flexible arm with nonuniform cross section
Dog̃an, M.; Morgül, Ömer (IEEE, 200606)A twolink flexible arm with nonuniform or variable crosssection by design will be considered based on an exact PDE model with boundary conditions. In this research, the nonlinear controller is used to achieve setpoint ... 
Observer based control of chaos
Solak, Ercan; Morgül, Ömer; Ersoy, Umut (IEEE, 199708)In this work we consider the control of forced chaotic oscillators. To obtain any desirable behavior, the system parameters are effectively modified using state feedback. The system states used in the feedback are estimated ... 
Observer based friction cancellation in mechanical systems
Odabaş, Caner; Morgül, Ömer (IEEE, 201410)An adaptive nonlinear observer based friction compensation for a special time delayed system is presented in this paper. Considering existing delay, an available Coulomb observer is modified and closed loop system is formed ... 
On the boundary control of a flexible robot arm
Morgül, Ömer (IEEE, 2001)We consider a flexible robot arm modeled as a single flexible link clamped to a rigid body. We assume that the system performs only planar motion. For this system, we pose two control problems; namely, the orientation and ... 
On the boundary control of beam equation
Morgül, Ömer (IFAC, 2002)A flexible system described by EulerBernoulli beam equation is considered. The beam is clamped at one end, and is free at the other end. Boundary control force and torque inputs are applied at the free end of the beam. ... 
On the boundary control of Kirchhoff's nonlinear string
Morgül, Ömer; Shahruz, S. M. (IFAC, 2007)In this paper we propose two new classes of controllers which stabilize Kirchhoff's nonlinear string by using boundary control techniques. We assume that the boundary displacement is the only available measurement. The ... 
On the stabilization of the wave equation
Morgül, Ömer (Springer, 1993) 
On the strain feedback control of a flexible robot arm
Morgül, Ömer (IEEE, 2011)We consider a flexible robot arm modeled as a rigid hub which rotates in an inertial space; a light flexible link is clamped to the rigid body at one end and is free at the other. We assume that the flexible link performs ... 
Orientation and control of a flexible spacecraft: planar motion
Morgül, Ömer (IEEE, 1990)We consider a flexible spacecraft modeled as a rigid body which rotates in an inertial frame; a light flexible beam is clamped to the rigid body at one end and free at the other end. We assume that the flexible spacecraft ... 
PDE control of a rotating shear beam with boundary feedback
Doğan, M.; Morgül, Ömer (IEEE, 200908)We consider a flexible structure modeled as a shear beam which is clamped to a rigid body at one end and is free at the other end. The whole structure is free to rotate on the horizontal plane. We first model the system ... 
Reactive footstep planning for a planar spring mass hopper
Arslan, Ömür; Saranlı, Uluç; Morgül, Ömer (IEEE, 200910)The main driving force behind research on legged robots has always been their potential for high performance locomotion on rough terrain and the outdoors. Nevertheless, most existing control algorithms for such robots ... 
Robust LQ control for harmonic reference/disturbance signals
Köroğlu, Hakan; Morgül, Ömer (IEEE, 2000)Linear Quadratic (LQ) controller design is considered for continuoustime systems with harmonic signals of known frequencies and it is shown that the design is reducible to an interpolation problem. All LQ optimal loops ... 
Robust stabilization of the wave equation against small delays
Morgül, Ömer (IEEE, 1994)In this paper we consider a system which can be modeled by (undamped) wave equation in a bounded domain. We assume that the system is fixed at one end and is controlled by a boundary controller at the other end. We also ... 
Stability of delayed feedback controllers for discrete time systems
Morgül, Ömer (IEEE, 2003)We consider the delayed feedback control (DFC) scheme for one dimensional discrete time systems. To analyze the stability, we construct a map whose fixed points correspond to the periodic orbits of the system to be controlled. ... 
A stability result for delayed feedback controllers
Morgül, Ömer (IEEE, 2003)We consider the delayed feedback control (DFC) scheme for one dimensional discrete time systems. To analyze the stability, we construct a map whose fixed points correspond to the periodic orbits of the system to be controlled. ... 
Stability results for some periodic feedback controllers
Morgül, Ömer (IFAC, 2005)We propose two periodic feedback schemes for the stabilization of periodic orbits for one dimensional discrete time chaotic systems. These schemes can be generalized to higher dimensional systems in a straightforward way. ... 
Stabilization and disturbance rejection for the beam equation
Morgül, Ömer (IEEE, 2001)We consider a system described by the EulerBernoulli beam equation in a bounded domain with appropriate boundary conditions. To stabilize the system, we propose a dynamic boundary controller applied at the free end of the ... 
Stabilization and disturbance rejection for the wave equation
Morgül, Ömer (IEEE, 1994)We consider a system described by the one dimensional linear wave equation in a bounded domain with appropriate boundary conditions. To stabilize the system, we propose a dynamic boundary controller applied at the free end ... 
Twolegged robot motion control with recurrent neural networks
Çatalbaş, Bahadır; Morgül, Ömer (Springer, 202204)Legged locomotion is a desirable ability for robotic systems thanks to its agile mobility and wide range of motions that it provides. In this paper, the use of neural networkbased nonlinear controller structures which ... 
Yapay sinir ağlarında yeni bir ön değer atama yöntemi: laplasyen
Çatalbas, Burak; Çatalbaş, Bahadır; Morgül, Ömer (IEEE, 201805)Makine öğrenimi alanında yapay sinir ağlarının popülerliği 2006 yılında derin öğrenme kavramının yerleşmesi sonrasında günden güne artmaktadır. Derin sinir ağlarının eğitiminde başarı yüzdelerini önemli oranda etkileyen ...