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Learning Feedback Linearization Based Stable Robust Adaptive NARMA Controller Design for Rotary Inverted Pendulum

Soydemir, M.U.; Sahin, S.; Bulucu, P.; Kocaoglu, A.; Guzelis, C. (IEEE, 2019)

This paper presents a Learning Feedback Linearization (LFL) based Nonlinear Auto-Regressive Moving Average (NARMA) controller design for a ROTary inverted PENdulum (ROTPEN) plant. The proposed NARMA controller comprises ...

Searching Optimal Values of Identification and Controller Design Horizon Lengths, and Regularization Parameters in NARMA Based Online Learning Controller Design

Toprak, T.; Sahin, S.; Soydemir, M.U.; Bulucu, P.; Kocaoglu, A.; Guzelis, C. (ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering, 2019)

This paper presents an analysis on searching the optimal values of the system identification and tracking window lengths, and regularization parameter for the online learning NARMA controller algorithm. Both window lengths ...

Learning Feedback Linearization Based Stable Robust Adaptive NARMA Controller Design for Rotary Inverted Pendulum

Soydemir, M.U.; Sailin, S.; Bulucu, P.; Kocaoglu, A.; Guzelis, C. (ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering, 2019)

This paper presents a Learning Feedback Linearization (LFL) based Nonlinear Auto-Regressive Moving Average (NARMA) controller design for a ROTary inverted PENdulum (ROTPEN) plant. The proposed NARMA controller comprises ...

Performance analysis of stable adaptive NARMA controller scheme for furuta pendulum

Bulucu, P.; Soydemir, M.U.; Sahin, S.; Kocaoglu, A.; Guzelis, C. (2019 23rd International Conference on System Theory, Control and Computing, ICSTCC 2019 - Proceedings, 2019)

This paper presents a novel stable adaptive controller scheme for Furuta Pendulum via nonlinear auto-regressive moving-average based plant identification. During online learning for the developed controller, input-output ...

Data Dependent Stable Robust Adaptive Controller Design for Altitude Control of Quadrotor Model

Soydemir, M.U.; Alkus, I.; Bulucu, P.; Kocaoglu, A.; Guzelis, C.; Sahin, A.S. (Proceedings of the 2018 18th International Conference on Mechatronics - Mechatronika, ME 2018, 2019)

This paper presents Nonlinear Auto Regressive Moving Average (NARMA) based stable robust adaptive controller design. Both the plant and the closed-loop controller systems are modelled by the proposed NARMA based input-output ...