ORCID Profile
0000-0002-4528-2545
Current Organisation
University of Wollongong
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Publisher: IEEE
Date: 02-2013
Publisher: IEEE
Date: 08-2014
Publisher: IEEE
Date: 03-2014
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 12-2015
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 12-2019
Publisher: IEEE
Date: 08-2012
Publisher: IEEE
Date: 06-2014
Publisher: IEEE
Date: 10-2012
Publisher: IEEE
Date: 06-2013
Publisher: Springer Berlin Heidelberg
Date: 2011
Publisher: IEEE
Date: 08-2009
Publisher: Cambridge University Press (CUP)
Date: 15-04-2019
DOI: 10.1017/S0263574719000420
Abstract: This paper deals with the robust force and position control problems of series elastic actuators (SEAs). It is shown that an SEA’s force control problem can be described by a second-order dynamic model which suffers from only matched disturbances. However, the position control dynamics of an SEA is of fourth order and includes matched and mismatched disturbances. In other words, an SEA’s position control is more complicated than its force control, particularly when disturbances are considered. A novel robust motion controller is proposed for SEAs by using disturbance observer (DOb) and sliding mode control. When the proposed robust motion controller is implemented, an SEA can precisely track desired trajectories and safely contact with an unknown and dynamic environment. The proposed motion controller does not require precise dynamic models of environments and SEAs. Therefore, it can be applied to many different advanced robotic systems such as compliant humanoids, industrial robots and exoskeletons. The validity of the proposed motion controller is experimentally verified.
Publisher: IEEE
Date: 06-2014
Publisher: IEEE
Date: 10-2016
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 03-2020
Publisher: The Scientific and Technological Research Council of Turkey (TUBITAK-ULAKBIM) - DIGITAL COMMONS JOURNALS
Date: 2017
DOI: 10.3906/ELK-1503-207
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2015
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2021
Publisher: MDPI AG
Date: 16-10-2023
DOI: 10.3390/S23208492
Publisher: IEEE
Date: 02-2013
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 03-2016
Publisher: IEEE
Date: 03-2012
Publisher: IEEE
Date: 09-2015
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 03-2015
Publisher: IEEE
Date: 03-2015
Publisher: IEEE
Date: 04-2011
Publisher: IEEE
Date: 07-2009
Publisher: MDPI AG
Date: 06-04-2023
DOI: 10.3390/S23073778
Abstract: Achievement of fit between the residual limb and prosthetic socket during socket manufacture is a priority for clinicians and is essential for safety. Clinicians have recognised the potential benefits of having a sensor system that can provide objective socket-limb interface pressure measurements during socket fitting, but the cost of existing systems makes current technology prohibitive. This study will report on the characterisation, validation and preliminary clinical implementation of a low cost, portable, wireless sensor system designed for use during socket manufacture. Characterisation and benchtop testing demonstrated acceptable accuracy, behaviour at variable temperature, and dynamic response for use in prosthetic socket applications. Our sensor system was validated with simultaneous measurement by a commercial sensor system in the sockets of three transtibial prosthesis users during a fitting session in the clinic. There were no statistically significant differences between the sensor system and the commercial sensor for a variety of functional activities. The sensor system was found to be valid in this clinical context. Future work should explore how pressure data relates to ratings of fit and comfort, and how objective pressure data might be used to assist in clinical decision making.
Publisher: IEEE
Date: 03-2015
Publisher: ASME International
Date: 09-12-2014
DOI: 10.1115/1.4025801
Abstract: The goal of this paper is to clarify the robustness and performance constraints in the design of control systems based on disturbance observer (DOB). Although the bandwidth constraints of a DOB have long been very well-known by experiences and observations, they have not been formulated and clearly reported yet. In this regard, the Bode and Poisson integral formulas are utilized in the robustness analysis so that the bandwidth constraints of a DOB are derived analytically. In this paper, it is shown that the bandwidth of a DOB has upper and lower bounds to obtain a good robustness if the plant has nonminimum phase zero(s) and pole(s), respectively. Besides that the performance of a system can be improved by using a higher order disturbance observer (HODOB) however, the robustness may deteriorate, and the bandwidth constraints become more severe. New analysis and design methods, which provide good robustness and predefined performance criteria, are proposed for the DOB based robust control systems. The validity of the proposals is verified by simulation results.
Publisher: IEEE
Date: 10-2016
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2018
Publisher: Elsevier BV
Date: 05-2013
Publisher: IEEE
Date: 04-2016
Publisher: IEEE
Date: 10-2012
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 06-2023
Publisher: IEEE
Date: 11-2013
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 12-2017
Publisher: Informa UK Limited
Date: 10-2013
Publisher: Institute of Electrical Engineers of Japan (IEE Japan)
Date: 2015
Publisher: IEEE
Date: 07-2012
Publisher: IEEE
Date: 08-2011
Publisher: IEEE
Date: 05-2014
Publisher: IEEE
Date: 06-2012
DOI: 10.1109/HSI.2012.20
Publisher: IEEE
Date: 10-2016
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2015
Publisher: IEEE
Date: 11-2013
Publisher: IEEE
Date: 08-2013
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2020
Publisher: IEEE
Date: 03-2014
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 08-2021
Publisher: IEEE
Date: 08-2013
No related grants have been discovered for Emre SARIYILDIZ.