Now showing items 1-20 of 37

    • A 3D dynamic model of a spherical wheeled self-balancing robot 

      İnal, Ali Nail; Morgül, Ömer; Saranlı, Uluç (2012)
      Mobility through balancing on spherical wheels has recently received some attention in the robotics literature. Unlike traditional wheeled platforms, the operation of such platforms depends heavily on understanding and ...
    • Adaptive control of a spring-mass hopper 

      Uyanık, İsmail; Saranlı, Uluç; Morgül, Ömer (IEEE, 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 friction compensations for mechanical systems with measurement delay 

      Odabaş, Caner; Morgül, Ömer (SAGE Publications, 2020)
      Application performance of mechanical positioning systems might not coincide with the theory, mainly due to nonlinearities or imperfections of system models. Although it is sometimes possible to ignore these mismatches, ...
    • An approximate stance map of the spring mass hopper with gravity correction for nonsymmetric locomotions 

      Arslan, Ömür; Saranlı, Uluç; Morgül, Ömer (IEEE, 2009)
      The Spring-Loaded Inverted Pendulum (SLIP) model has long been established as an effective and accurate descriptive model for running animals of widely differing sizes and morphologies, while also serving as a basis for ...
    • Boundary control of some infinite dimensional systems 

      Morgül, Ömer (IFAC, 2005)
      We will consider the feedback stabilization of a class of infinite dimensional systems by using boundary control, i.e. control inputs are applied at the boundaries of such systems. Such systems usually possess an internal ...
    • A communication scheme by using synchronized chaotic systems 

      Morgül, Ömer; Feki, Moez (IEEE, 1996)
      A method to synchronize systems with chaotic behavior, in a master-slave configuration adapted to communication systems, is discussed. This work is motivated by the need for secure communication. In this method, the ...
    • Discrete-time LQ optimal repetitive control 

      Köroğlu, Hakan; Morgül, Ömer (IEEE, 1999)
      LQ optimal repetitive control is developed in single-input single-output discrete-time signal/system framework. For a given plant and a stabilizing controller, the LQ optimal repetitive control system can be obtained by ...
    • Esnek robotların dinamiği ve denetimi 

      Morgül, Ömer (Elektrik Mühendisleri Odası, 1995)
    • Farklı yapay sinir ağı temelli sınıflandırıcılar ile insan hareketi tanımlama 

      Çatalbaş, Burak; Morgül, Ömer; Çatalbaş, Bahadır (IEEE, 2017-05)
      İnsan Hareketi Tanımlanması, taşıdığı önem ve sınırlı öznitelik vektörü ile yüksek sınıflandırma oranlarına ulaşmasında karşılaşılan zorluk nedeniyle popüler bir araştırma konusudur. Bireylerin hareket ölçülebilirliginin ...
    • Frequency-domain subspace ıdentification of linear time periodic (LTP) systems 

      Uyanik, I.; Saranli, U.; Ankaralı, M.; Cowan, N. J.; Morgül, Ömer (Institute of Electrical and Electronics Engineers, 2019)
      This note proposes a new methodology for subspace-based state-space identification for linear time-periodic (LTP) systems. Since LTP systems can be lifted to equivalent linear time-invariant (LTI) systems, we first lift ...
    • Harmonic transfer functions based controllers for linear time-periodic systems 

      Hıdır, E. K.; Uyanık, I.; Morgül, Ömer (SAGE Publications, 2019)
      The analysis, identification and control of periodic systems has gained increasing interest during the last few decades due to the increased use of dynamical systems that exhibit periodic motion. The vast majority of these ...
    • Independent estimation of input and measurement delays for a hybrid vertical spring-mass-damper via harmonic transfer functions 

      Uyanık, İsmail; Ankaralı, M. M.; Cowan, N. J.; Saranlı, U.; Morgül, Ömer; Özbay, Hitay (IFAC, 2015-06)
      System identification of rhythmic locomotor systems is challenging due to the time-varying nature of their dynamics. Even though important aspects of these systems can be captured via explicit mechanics-based models, it ...
    • Model based anticontrol of chaos 

      Morgül, Ömer (IEEE, 2003)
      We will consider model based anticontrol of chaotic systems. We consider both continuous and discrete time cases. We first assume that the systems to be controlled are linear and time invariant. Under controllability ...
    • Model based anticontrol of discrete-time systems 

      Morgül, Ömer (IEEE, 2003)
      We will consider a model-based approach for the anticontrol of some discrete-time systems. We first assume the existence of a chaotic model in an appropriate form. Then by using an appropriate control input we try to match ...
    • A new delayed feedback control scheme for discrete time chaotic systems 

      Morgül, Ömer (IFAC, 2009)
      In this paper we consider the stabilization problem of unstable periodic orbits of discrete time chaotic systems. We consider both one dimensional and higher dimensional cases. We propose a novel generalization of the ...
    • A new periodic controller for discrete time chaotic systems 

      Morgül, Ömer (IFAC, 2010)
      In this paper we consider the stabilization problem of unstable periodic orbits of discrete time chaotic systems. For simplicity we consider only one dimensional case. We propose a novel periodic feedback controller law ...
    • A nonlinear control scheme for discrete time chaotic systems 

      Morgül, Ömer (The International Federation of Automatic Control, 2012-06)
      In this paper we consider the stabilization problem of unstable periodic orbits of discrete time chaotic systems. We consider both one dimensional and higher dimensional cases. We propose a nonlinear feedback law and present ...
    • Nonlinear PDE control of two-link flexible arm with nonuniform cross section 

      Dog̃an, M.; Morgül, Ömer (IEEE, 2006-06)
      A two-link flexible arm with nonuniform or variable cross-section by design will be considered based on an exact PDE model with boundary conditions. In this research, the nonlinear controller is used to achieve set-point ...
    • Observer based control of chaos 

      Solak, Ercan; Morgül, Ömer; Ersoy, Umut (IEEE, 1997-08)
      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, 2014-10)
      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 ...