Performance analysis of stable adaptive NARMA controller scheme for furuta pendulum
| dc.contributor.author | Parvin Bulucu | |
| dc.contributor.author | Mehmet Uğur Soydemir | |
| dc.contributor.author | Savaş Şahin | |
| dc.contributor.author | Aykut Kocaoǧlu | |
| dc.contributor.author | Cüneyt Güzeliş | |
| dc.contributor.author | Bulucu, Parvin | |
| dc.contributor.author | Kocaoglu, Aykut | |
| dc.contributor.author | Soydemir, Mehmet Ugur | |
| dc.contributor.author | Guzelis, Cuneyt | |
| dc.contributor.author | Sahin, Sava | |
| dc.contributor.editor | R.-E. Precup | |
| dc.date.accessioned | 2025-10-06T17:51:20Z | |
| dc.date.issued | 2019 | |
| dc.description.abstract | 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 obtained from the rotary inverted pendulum model used to update the parameters of the NARMA controller while ensuring Schur stability for the overall closed-loop control system. The parameters of the plant model and the introduced controller are computed by minimizing the identification and output tracking errors respectively both of them are absolute loss functions modified with a regularization parameter. The proposed adaptive controller is tested on Furuta pendulum model and its performance is compared with the performances of proportional integral derivative controller and model reference adaptive controller. © 2020 Elsevier B.V. All rights reserved. | |
| dc.description.sponsorship | Accenture, ATOSS Software, Continental Automotive Romania, et al., Hella Romania, Intel Romania | |
| dc.description.sponsorship | This work was supported by the Scientific and Technological Research Council of Turkey (TUBITAK) under Grant 116E170. | |
| dc.description.sponsorship | Scientific and Technological Research Council of Turkey (TUBITAK) [116E170] | |
| dc.description.sponsorship | TÜB TAK, (116E170); Türkiye Bilimsel ve Teknolojik Araştirma Kurumu, TÜBITAK | |
| dc.identifier.doi | 10.1109/ICSTCC.2019.8885779 | |
| dc.identifier.isbn | 9781728106991 | |
| dc.identifier.issn | 2372-1618 | |
| dc.identifier.scopus | 2-s2.0-85075056123 | |
| dc.identifier.uri | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85075056123&doi=10.1109%2FICSTCC.2019.8885779&partnerID=40&md5=dce06f8f83cb3b837b86307e7097a9c0 | |
| dc.identifier.uri | https://gcris.yasar.edu.tr/handle/123456789/9369 | |
| dc.identifier.uri | https://doi.org/10.1109/icstcc.2019.8885779 | |
| dc.identifier.uri | https://doi.org/10.1109/ICSTCC.2019.8885779 | |
| dc.language.iso | English | |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | |
| dc.relation.ispartof | 23rd International Conference on System Theory Control and Computing ICSTCC 2019 | |
| dc.relation.ispartofseries | International Conference on System Theory Control and Computing | |
| dc.rights | info:eu-repo/semantics/closedAccess | |
| dc.subject | Furuta Pendulum, Narma, Nonlinear Controller, Stable Adaptive, Closed Loop Control Systems, Computation Theory, Controllers, Pendulums, Proportional Control Systems, System Theory, Two Term Control Systems, Furuta Pendulum, Model Reference Adaptive Controllers, Narma, Non-linear Auto-regressive Moving Averages, Non-linear Controllers, Proportional Integral Derivative Controllers, Regularization Parameters, Stable Adaptive, Model Reference Adaptive Control | |
| dc.subject | Closed loop control systems, Computation theory, Controllers, Pendulums, Proportional control systems, System theory, Two term control systems, Furuta pendulum, Model reference adaptive controllers, NARMA, Non-linear auto-regressive moving averages, Non-linear controllers, Proportional integral derivative controllers, Regularization parameters, Stable adaptive, Model reference adaptive control | |
| dc.subject | NARMA | |
| dc.subject | Furuta Pendulum | |
| dc.subject | Stable Adaptive | |
| dc.subject | Nonlinear Controller | |
| dc.title | Performance analysis of stable adaptive NARMA controller scheme for furuta pendulum | |
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| gdc.author.id | SOYDEMİR, MEHMET UĞUR/0000-0002-2327-1642 | |
| gdc.author.id | KOCAOĞLU, Aykut/0000-0001-5151-0463 | |
| gdc.author.id | Sahin, Savas/0000-0003-2065-6907 | |
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| gdc.author.wosid | KOCAOĞLU, Aykut/Q-1179-2019 | |
| gdc.author.wosid | Sahin, Savas/AAF-6586-2020 | |
| gdc.author.wosid | SOYDEMİR, MEHMET UĞUR/JYQ-2870-2024 | |
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| gdc.description.departmenttemp | [Bulucu, Parvin] Dokuz Eylul Univ, Elect Elect Engn, Izmir, Turkey; [Soydemir, Mehmet Ugur; Sahin, Sava] Izmir Katip Celebi Univ, Elect Elect Engn, Izmir, Turkey; [Kocaoglu, Aykut] Dokuz Eylul Univ, Elect Program, Vocat Sch, Izmir, Turkey; [Guzelis, Cuneyt] Yasar Univ, Elect Elect Engn, Izmir, Turkey | |
| gdc.description.endpage | 354 | |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | |
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| gdc.virtual.author | Güzeliş, Cüneyt | |
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| person.identifier.scopus-author-id | Bulucu- Parvin (57207695643), Soydemir- Mehmet Uğur (56153445900), Şahin- Savaş (36240052900), Kocaoǧlu- Aykut (24338190300), Güzeliş- Cüneyt (55937768800) | |
| project.funder.name | This work was supported by the Scientific and Technological Research Council of Turkey (TÜB TAK) under Grant 116E170. | |
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