Faculty of Engineering and Natural Sciences
FENS ME 551 SEMINARS
Control of Nonlinear Systems
Abstract: In this colloquium, first, I will present an adaptive control development for a basic mechanical system. In the second part of this presentation, I will discuss coordination control for haptic and teleoperator systems. Teleoperator and haptic systems are two fields that require human-robot interaction. Human-robot interaction is motivated by the need for: task execution in hazardous or unstructured environments such as contaminated facilities, space, or underwater; remote manipulation due to the size, mass, or the hazardous nature of the object such as removing nuclear waste; precision beyond human capacity such as robot assisted medical procedures. These practical applications drive the demand for teleoperator systems to execute the task accurately and for haptic systems to provide necessary interfaces and training for it. In addition to the wide variety of practical applications, theoretical challenges arise when dealing with these systems. From a control perspective, some of the theoretical challenges of the human-robot interaction problem are the presence of different types of nonlinearities such as uncertainties in the models, various types of disturbances and friction, the lack of force input measurements, and the need to ensure the safety of the human operator.
Short Bio: Enver Tatlicioglu received the BSc degree from
Turkey and the PhD degree from
USA in 1999 and 2007, respectively. Upon completion of his PhD degree, he worked as a post-doctoral research fellow in the Department of Electrical and Computer Engineering at
University and in May 2008 he joined the Department of Electrical & Electronics Engineering at Izmir Institute of Technology,
Turkey. Since October 2008, he is jointly with the Department of Electrical and Computer Engineering at
University where he was appointed as an Adjunct Assistant Professor. His research interests include haptic systems and teleoperation, vision-based systems, control of kinematically redundant robot manipulators, and learning, robust and adaptive control of non-linear systems with applications in mechatronics.
November 12, 2008, Wednesday, 13:40-14:30,