H
Harun Tugal
Researcher at Heriot-Watt University
Publications - 18
Citations - 114
Harun Tugal is an academic researcher from Heriot-Watt University. The author has contributed to research in topics: Computer science & Teleoperation. The author has an hindex of 4, co-authored 13 publications receiving 62 citations. Previous affiliations of Harun Tugal include Adana Science and Technology University & Karadeniz Technical University.
Papers
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Journal ArticleDOI
Design of a completely model free adaptive control in the presence of parametric, non-parametric uncertainties and random control signal delay
TL;DR: An adaptive controller is developed for discrete time linear systems that takes into account parametric uncertainty, internal-external non-parametric random uncertainties, and time varying control signal delay and is designed in such a way that it is utterly model free.
Journal ArticleDOI
Stability Analysis of Bilateral Teleoperation With Bounded and Monotone Environments via Zames–Falb Multipliers
TL;DR: This paper provides less conservative stability conditions for bilateral teleoperation by exploiting the advantages of the integral quadratic constraint (IQC) framework, where the environment can be defined as a memoryless, bounded, and monotonic nonlinear operator.
Journal ArticleDOI
Absolute Stability of Systems With Integrator and/or Time Delay via Off-Axis Circle Criterion
TL;DR: This letter revisits clockwise properties of the Nyquist plot and extends results in the literature to critically stable systems and time-delayed systems and shows that the same class of transfer functions in series with a time delay satisfies the Kalman conjecture.
Journal ArticleDOI
A Robotic Experimental Setup with a Stewart Platform to Emulate Underwater Vehicle-Manipulator Systems
Kamil Cetin,Harun Tugal,Yvan Petillot,Matthew W. Dunnigan,Leonard Newbrook,Mustafa Suphi Erden +5 more
TL;DR: In this article , an experimental robotic setup with a Stewart platform and a robot manipulator to emulate an underwater vehicle-manipulator system (UVMS) is presented, which consists of a KUKA IIWA14 robotic manipulator mounted on a parallel manipulator, known as Stewart Platform, and a force/torque sensor attached to the end effector of the robotic arm interacting with a pipe.
Proceedings ArticleDOI
Teleoperation with memoryless, monotone, and bounded environments: A Zames-Falb multiplier approach
TL;DR: This initial work considers that the environment can be described by a memoryless, monotone, and bounded nonlinearity, and Zames-Falb multipliers can be introduced to relax the conservatism of current state-of-the-art stability conditions.