Dynamics and Control of Mechanical Systems

In this paper, we consider the regulation control problem for an underactuated overhead crane system. Motivated by recent passivity-based controllers for underactuated systems, we design several controllers that asymptotically regulate the planar gantry position and the payload angle. Specifically, utilizing LaSalle's…

Two broad approaches to the active control of large flexible systems are compared, namely, coupled control and independent modal-space control. The basic difference between the two approaches lies in the manner in which the feedback controls are designed. The two methods are compared qualitatively from design and comp…

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• AFŞİN SARITAŞ

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A set of kinematical and intrinsic equilibrium equations are derived for plates undergoing large deflection and rotation but with small strain. The large rotation is handled by means of the general finite rotation of a frame in which the material points that are originally along a normal line in the undeformedplate un…

• ALİ RANA ATILGAN

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A discrete-time sliding-mode controller is presented in this paper, based on the theory of variable structure systems. It is assumed that the parameters of the system are uncertain and external disturbances are present. A measure of these effects is obtained through the deviations from the desired sliding surface, and…

• AHMET DENKER

A model is presented for the dynamics of a radially rotating beam with impact. The model uses a momentum balance method and a coefficient of restitution, and enables one to predict the rigid body motion as well as the elastic motion before and after impact. A computational algorithm is also developed to implement the…

• AHMET SALİH YİĞİT

In this short paper, we consider the nonlinear control of kinematically redundant robot manipulators. Specifically, we use a Lyapunov technique to design a model-based nonlinear controller that achieves exponential link position and subtask tracking. We note that the control strategy does not require the computation o…

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• AHMET SALİH YİĞİT

Purpose To perform the flapwise bending vibration analysis of a rotating cantilever Timoshenko beam. Design/methodology/approach Kinetic and potential energy expressions are derived step by step. Hamiltonian approach is used to obtain the governing equations of motion. Differential transform method (DTM) is applied to…

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