M.S. Theses
Permanent URI for this collection
Browse
Browsing M.S. Theses by Subject "Adaptive control systems."
Now showing 1 - 2 of 2
Results Per Page
Sort Options
Item An experimental investigation of adaptive servo control of a single axis table(Thesis (M.S)- Bogazici University. Institute for Graduate Studies in Science and Engineering, 1992., 1992.) Özel, F. İlkin.; Türkay, Osman S.The object of this thesis is to model a dc motor driven single axis table system and to perform adaptive velocity and position control of the table. After modeling the system, in the first part of the thesis, fixed parameter and adaptive PI control of the velocity of the table has been achieved and the effects of several effective parameters in adaptive control such as initial estimates, initial covariance matrix and forgetting factor have been investigated. Recursive least squares estimation method has been used to estimate the system parameters at each step. The experimental results have shown that for speed control of a dc motor driven single axis table system, implementing adaptive control algorithm is better solution. In the second part of the thesis, the ordinary PO and adaptive pole assignment position control. of the table were performed. The effect of estimator parameters on the estimator and controller response has been examined. The results revealed that the adaptive regulator is advantageous over the ordinary PO pole assignment algorithm.Item Control system design of a highly-extensible soft continuum robot(Thesis (M.S.) - Bogazici University. Institute for Graduate Studies in Science and Engineering, 2019., 2019.) Talaş, Şeref Kemal.; Samur, Evren.In this thesis, control system design of a highly-extensible soft robot is presented. The robot is actuated with three inflatable tubings connected to stepper motors and can move in three-dimensional space. Pressurizing the tubings provides the body stiffness and creates a thrust at the end-effector to move the robot, whereas position and speed of the tubings are controlled by the stepper motors. Control system includes open-loop speed and position controllers. Also, a teleoperation controller is designed to move the robot by user input from a commanding device. The speed controller is designed only for straight extension and contraction, and it does not provide a three-dimensional speed control. The position controller moves the robot tip to the desired real-world coordinates in three-dimensional space. Finally, the teleoperation controller is used to control the extension/contraction speed and to steer the robot by differentiating the speed of three tubings depending on the user input. The robot is subjected to tests in free-space to measure the accuracy of the speed and position controllers. The teleoperation controller is also tested using the commanding device in order to check whether it is possible to move the robot tip to a target in free-space, through obstacles, and in an enclosed environment. All of the controllers are validated by the experiments. Considering the test results, the proposed highly-extensible soft continuum robot and the designed controllers are promising for many applications such as inspection, urban search and rescue, and minimally invasive surgery.