Browsing by Author "Morgül, Ömer"
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A 3D dynamic model of a spherical wheeled selfbalancing 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 springmass hopper
Uyanık, İsmail; Saranlı, Uluç; Morgül, Ömer (IEEE, 2011)Practical realization of modelbased dynamic legged behaviors is substantially more challenging than statically stable behaviors due to their heavy dependence on secondorder system dynamics. This problem is further ... 
Adaptive friction compensations for mechanical systems with measurement delay
Odabaş, Caner; Morgül, Ömer (SAGE Publications, 2021)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 SpringLoaded 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 masterslave configuration adapted to communication systems, is discussed. This work is motivated by the need for secure communication. In this method, the ... 
Discretetime LQ optimal repetitive control
Köroğlu, Hakan; Morgül, Ömer (IEEE, 1999)LQ optimal repetitive control is developed in singleinput singleoutput discretetime signal/system framework. For a given plant and a stabilizing controller, the LQ optimal repetitive control system can be obtained by ... 
Efficient bipedal locomotion on rough terrain via compliant ankle actuation with energy regulation
Kerimoğlu, Deniz; Karkoub, M.; Uyanik, I.; Morgül, Ömer; Saranli, U. (Institute of Physics Publishing Ltd., 20210812)Legged locomotion enables robotic platforms to traverse on rough terrain, which is quite challenging for other locomotion types, such as in wheeled and tracked systems. However, this benefit—moving robustly on rough ... 
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, 201705)İnsan Hareketi Tanımlanması, taşıdığı önem ve sınırlı öznitelik vektörü ile yüksek sınıflandırma oranlarına ulaşmasında karşılaşılan zorluk nedeniyle popüler bir araştırma konusudur. Bireylerin hareket ölçülebilirliginin ... 
FMCW radar sinyalleri ile LSTM tabanlı hedef sınıflandırması
Güneş, Oytun; Morgül, Ömer (Bilkent University, 20210719)Dünya Sağlık Örgütü’ne (WHO) göre, her yıl trafik kazalarından kaynaklı yaklaşık 2050 milyon yaralanma olmaktadır. Yaralanmaların çoğu savunmasız yayalar, bisikletliler ve motosikletliler arasındadır. Otonom araçlar ... 
Frequencydomain 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 subspacebased statespace identification for linear timeperiodic (LTP) systems. Since LTP systems can be lifted to equivalent linear timeinvariant (LTI) systems, we first lift ... 
Harmonic transfer functions based controllers for linear timeperiodic 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 springmassdamper via harmonic transfer functions
Uyanık, İsmail; Ankaralı, M. M.; Cowan, N. J.; Saranlı, U.; Morgül, Ömer; Özbay, Hitay (IFAC, 201506)System identification of rhythmic locomotor systems is challenging due to the timevarying nature of their dynamics. Even though important aspects of these systems can be captured via explicit mechanicsbased 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 discretetime systems
Morgül, Ömer (IEEE, 2003)We will consider a modelbased approach for the anticontrol of some discretetime 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, 201206)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 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 ...