Yuksel Hacioglu
Istanbul University
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Publication
Featured researches published by Yuksel Hacioglu.
IEEE Transactions on Industrial Electronics | 2008
Nurkan Yagiz; Yuksel Hacioglu; Yener Taskin
In this paper, a robust fuzzy sliding-mode controller for active suspensions of a nonlinear half-car model is introduced. First, a nonchattering sliding-mode control is presented. Then, this control method is combined with a single-input-single-output fuzzy logic controller to improve its performance. The negative value of the ratio between the derivative of error and error is the input and the slope constant of the sliding surface of the nonchattering sliding-mode controller is the output of the fuzzy logic controller. Afterwards, a four-degree-of-freedom nonlinear half-car model, which allows wheel hops and includes a suspension system with nonlinear spring and piecewise linear damper with dry friction, is presented. The designed controllers are applied to this model in order to evaluate their performances. It has been shown that the designed controller does not cause any problem in suspension working limits. The robustness of the proposed controller is also investigated for different vehicle parameters. The results indicate the success of the proposed fuzzy sliding-mode controller.
Journal of The Franklin Institute-engineering and Applied Mathematics | 2011
Yuksel Hacioglu; Yunus Ziya Arslan; Nurkan Yagiz
Abstract The control problem of the cooperative motion of a two-link dual arm robot during handling and transportation of an object was studied in this paper. Since these types of robots are frequently preferred for hazardous applications such as transportation of radioactive materials and disposal of explosives, a robust non-chattering sliding mode controller (SMC) improved by a multiple-input multiple-output (MIMO) fuzzy logic unit was applied to the robot to track the desired trajectory with high accuracy and transport the load safely. In order to assess the performance of the proposed MIMO fuzzy sliding mode controller (MIMO-FSMC) in presence of parameter variations and external disturbances, a sudden load variation and noise were introduced to the robot system. If compared with classical SMC, tracking errors with smaller magnitudes and faster convergence to zero were obtained by using the proposed MIMO-FSMC. Numerical results suggest that this type of control method may safely be used for cooperative motion control of dual arm robots in load handling and transport applications in hazardous environments with high accuracy.
Journal of Vibration and Control | 2005
Nurkan Yagiz; Yuksel Hacioglu
In this paper, we develop a new control method that brings together the advantages of fuzzy logic and sliding mode control. First, we introduce a non-chattering robust sliding mode control. Then, in order to improve the performance of the controller a fuzzy logic algorithm is integrated with the sliding mode controller. This algorithm decides the slope of the sliding surface of the sliding mode controller dynamically. Thus, the system is caught on the sliding surface rapidly and remains over it, more successfully improving the performance of the controller. Afterwards, to test the success of the controller introduced, it is applied to a planar robot, which is to follow a certain trajectory only using the control inputs produced. The results are compared with those of a conventional PID controlled system and a sliding mode controller with constant surface slope. In order to check the robust behavior of the controller designed, an unexpected change in the mass of the second link is introduced and to make the conditions tougher it is assumed that this change is not sensed by the controllers. Noise resistance of the proposed controller is also checked by introducing normally distributed noise components into the equations of motion of the robot model.
Journal of Intelligent and Robotic Systems | 2008
Yunus Ziya Arslan; Yuksel Hacioglu; Nurkan Yagiz
In order to improve the life quality of amputees, providing approximate manipulation ability of a human hand to that of a prosthetic hand is considered by many researchers. In this study, a biomechanical model of the index finger of the human hand is developed based on the human anatomy. Since the activation of finger bones are carried out by tendons, a tendon configuration of the index finger is introduced and used in the model to imitate the human hand characteristics and functionality. Then, fuzzy sliding mode control where the slope of the sliding surface is tuned by a fuzzy logic unit is proposed and applied to have the finger model to follow a certain trajectory. The trajectory of the finger model, which mimics the motion characteristics of the human hand, is pre-determined from the camera images of a real hand during closing and opening motion. Also, in order to check the robust behaviour of the controller, an unexpected joint friction is induced on the prosthetic finger on its way. Finally, the resultant prosthetic finger motion and the tendon forces produced are given and results are discussed.
Journal of Vibration and Control | 2012
Yuksel Hacioglu; Nurkan Yagiz
A new adaptive backstepping controller with estimation for uncertain systems is presented in this study. The uncertainties are due to an unknown control coefficient and unknown or uncertain terms included in the system equations. The backstepping control technique is preferred because it has a systematic design procedure and guarantees the stability of the system, since it is based on Lyapunov’s direct method. The proposed controller is used for the vibration isolation of a nine-story building model with an active tuned mass damper installed on the top floor. The results indicate that the proposed controller effectively suppresses the vibrations of the building.
Journal of Vibration and Control | 2007
Nurkan Yagiz; Yunus Ziya Arslan; Yuksel Hacioglu
A prosthetic finger model, intended to imitate a real human hand and for use in replacing the real index finger of an amputee, is designed using tendons instead of joint motors. A dynamic model of the prosthetic finger model is developed, and a non-chattering robust sliding mode control is applied to make the model follow a certain trajectory. Trajectory planning of the finger model is based on images of the closing motion of a human hand, and time varying reference joint angles are obtained using these images. The robustness of the controller is confirmed by introducing an unexpected sudden joint friction induced in the prosthetic finger.
Transactions of the Institute of Measurement and Control | 2018
Hasan Omur Ozer; Yuksel Hacioglu; Nurkan Yagiz
In this study, a new high order sliding mode controller (HOSMC), based on super twisting algorithm (STA), is proposed for vehicle active suspensions. It is well known that first order sliding mode controller (SMC) is insensitive to parameter variations and external disturbances. On the other hand, it suffers from chattering present in control signal that may harm the mechanical components of the system. Therefore, HOSMC is preferred in this study that attenuates chattering effectively while preserving its robustness. Proposed HOSMC uses an estimation for the equivalent part of the control signal and uses the STA for the discontinuous part of the control law. Additionally, the controller gains are obtained by offline multi-objective genetic algorithm search. Extensive simulations and experimental results are presented to reveal the performance of the proposed controller. First order SMC is also designed and used for comparison. The results indicate the superior performance of the proposed HOSMC.
Journal of Physics: Conference Series | 2013
Yuksel Hacioglu; Nurkan Yagiz
A PD+PI type fuzzy logic controller with sliding surface is presented in this study. This controller consists of two parts which are PD type and PI type fuzzy logic units. Inputs to those fuzzy logic units are the sliding surface functions and their derivatives. The integrated controller is applied to two degrees of freedom vehicle active suspension model. Both time and frequency domain analysis are evaluated. Numerical results demonstrate that the proposed controller improves the vibration isolation of the vehicle body, without causing a suspension degeneration problem and without degrading road holding very much.
Expert Systems | 2009
Yunus Ziya Arslan; Yuksel Hacioglu; Nurkan Yagiz
: The motion control problem for the finger of a humanoid robot hand is investigated. First, the index finger of the human hand is dynamically modelled as a kinematic chain of cylindrical links. During construction of the model, special attention is given to determining bone dimensions and masses that are similar to the real human hand. After the kinematic and dynamic analysis of the model, in order to ensure that the finger model tracks its desired trajectory during a closing motion, a fuzzy sliding mode controller is applied to the finger model. In this controller, a fuzzy logic algorithm is used in order to tune the control gain of the sliding mode controller; thus, an adaptive controller is obtained. Finally, numerical results, which include a performance comparison of the proposed fuzzy sliding mode controller and a conventional sliding mode controller, are presented. The results demonstrate that the proposed control method can be used to perform the desired motion task for humanoid robot hands efficiently.
International Journal of Occupational Safety and Ergonomics | 2018
Yener Taskin; Yuksel Hacioglu; Faruk Ortes; Derya Karabulut; Yunus Ziya Arslan
In this study, responses of biodynamic human body models to whole-body vibration during a vehicle ride were investigated. Accelerations were acquired from three different body parts, such as the head, upper torso and lower torso, of 10 seated passengers during a car ride while two different road conditions were considered. The same multipurpose vehicle was used during all experiments. Additionally, by two widely used biodynamic models in the literature, a set of simulations were run to obtain theoretical accelerations of the models and were compared with those obtained experimentally. To sustain a quantified comparison between experimental and theoretical approaches, the root mean square acceleration and acceleration spectral density were calculated. Time and frequency responses of the models demonstrated that neither of the models showed the best prediction performance of the human body behaviour in all cases, indicating that further models are required for better prediction of the human body responses.