Advisors
Now showing items 1-20 of 37
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3D dynamic modeling of spherical wheeled self-balancing mobile robot
(Bilkent University, 2012)In recent years, dynamically stable platforms that move on spherical wheels, also known as BallBots, gained popularity in the robotics literature as an alternative locomotion method to statically stable wheeled mobile ... -
Adaptive control of a one-legged hopping robot through dynamically embedded spring-loaded inverted pendulum template
(Bilkent University, 2011)Practical realization of model-based dynamic legged behaviors is substantially more challenging than statically stable behaviors due to their heavy dependence on second-order system dynamics. This problem is further ... -
Adaptive observer designs for friction estimation in position control of simple mechanical systems with time delay
(Bilkent University, 2021-09)Friction force/torque is a well known natural effect that can cause performance degradation or even instability in mechanical systems, although it sometimes can be disregarded in closed loop feedback design phase. Hence, ... -
Analysis and control of periodic gaits in legged robots
(Bilkent University, 2017-11)The analysis, identi cation and control of legged locomotion have been an interest for various researchers towards building legged robots that move like the animals do in nature. The extensive studies on understanding ... -
Analysis and design of switching and fuzzy systems
(Bilkent University, 2002-09)In this thesis we consider the controller design problems for switching and fuzzy systems. In switching systems, the system dynamics and/or control input take dierent forms in different parts of the underlying state space. ... -
Application of deadbeat controllers and pole placement methodologies for friction compensation in mechanical systems
(Bilkent University, 2015)Friction is an almost unavoidable component of many mechanical systems. When not taken into account in designing control systems, the effect of friction may result in the degradation of controlled system performance. ... -
Application of dither and observer based state feedback in the control of chaotic systems
(Bilkent University, 1996)In the first part of this thesis, the application of dither for controlling chaotic systems is presented. Dither is a high frequency periodic signal that has been excunined in the literature before, for changing nonlinear ... -
Application of Gauss-Seidel method and singular value decomposition techniques to recursive least squares algorithm
(Bilkent University, 1991)System identification algorithms are utilized in many practical and theoretical applications such as parameter estimation of sj'stems, adaptive control and signal processing . Least squares algorithm is one of the most ... -
Control and system identification of legged locomotion with recurrent neural networks
(Bilkent University, 2022-06)In recent years, robotic systems have gained massive popularity in the industry, military, and daily use for various purposes, thanks to advancements in artificial intelligence and control theory. As an exciting sub-branch ... -
Controller design for a trajectory tracking missile by using inverse dynamics method
(Bilkent University, 1996)In this thesis, a controller for a missile desired to track a given trajectory is designed by using the nonlinear inverse dynarnics(NID) method. The nonlinear dynamic equations describing the motion of the missile are ... -
Design and implementation of a dsp based controller for brushless dc motors
(Bilkent University, 1996)This work presents development of a high speed digital signal processor based controller for Brushless DC Motors. A working model of the plant as motor and amplifier is introduced and verified through experiment. Design and ... -
Design and stability of Hopfield associative memory
(Bilkent University, 1991)This thesis is concerned with the selection of connection weights of Hopfield neural network model so that the network functions as a content addressable memory (CAM). We deal with both the discrete and the continuous-time ... -
Fuzzy controller design for parametric controllers
(Bilkent University, 1996)In this thesis, fuzzy logic controller (FLC) design for tuning some parametric controller is investigated. The objective in designing an FLC is to determine the rule bcise of the system and the data base which includes ... -
Human activity classification with deep learning using FMCW radar
(Bilkent University, 2022-09)Human Activity Recognition (HAR) has recently attracted academic research attention and is used for purposes such as healthcare systems, surveillance-based security, sports activities, and entertainment. Deep Learning is ... -
Identification and stability analysis of periodic motions for a planar legged runner with a rigid body and a compliant leg
(Bilkent University, 2013)The Spring-Loaded Inverted Pendulum (SLIP) model is an extensively used and fundamental template for modeling human and animal locomotion. Despite its wide use, the SLIP is a very simple model and considering the effects ... -
Identification of legged locomotion via model-based and data-driven approaches
(Bilkent University, 2017-05)Robotics is one of the core areas where the bioinspiration is frequently used to design various engineered morphologies and to develop novel behavioral controllers comparable to the humans and animals. Biopinspiration ... -
Identification of some nonlinear systems by using least-squares support vector machines
(Bilkent University, 2010)The well-known Wiener and Hammerstein type nonlinear systems and their various combinations are frequently used both in the modeling and the control of various electrical, physical, biological, chemical, etc... systems. ... -
Identification, stability analysis and control of linear time periodic systems via harmonic transfer functions
(Bilkent University, 2017-08)Many important systems encountered in nature such as wind turbines, helicopter rotors, power networks or nonlinear systems which are linearized around periodic orbit can be modeled as linear time periodic (LTP) systems. ... -
Improved artificial neural network training with advanced methods
(Bilkent University, 2018-09)Artificial Neural Networks (ANNs) are used for different machine learning tasks such as classification, clustering etc. They have been utilized in important tasks and offering new services more and more in our daily ... -
Linear quadratic control for harmonic signals
(Bilkent University, 2001)
