TY - JOUR AU - Atinga, Awudu AU - Kósi, Krisztián AU - Tar, József TI - Multivariable Steffensen's Accelerator in Adaptive Sliding Mode Control JF - ACTA POLYTECHNICA HUNGARICA J2 - ACTA POLYTECH HUNG VL - 21 PY - 2024 IS - 10 SP - 413 EP - 438 PG - 26 SN - 1785-8860 UR - https://m2.mtmt.hu/api/publication/34916197 ID - 34916197 LA - English DB - MTMT ER - TY - CHAP AU - Atinga, Awudu AU - Kósi, Krisztián AU - Tar, József ED - Szakál, Anikó TI - Improving the Tracking Precision of a Robust Sliding Mode Controller using Steffensen’s Convergence Accelerator Strategy T2 - SACI 2024: 18th IEEE International Symposium on Applied Computational Intelligence and Informatics: Proceedings PB - Institute of Electrical and Electronics Engineers (IEEE) CY - Timisoara SN - 9798350329513 PY - 2024 SP - 285 EP - 290 PG - 5 DO - 10.1109/SACI60582.2024.10619830 UR - https://m2.mtmt.hu/api/publication/34890095 ID - 34890095 LA - English DB - MTMT ER - TY - JOUR AU - Haidegger, Tamás AU - Galambos, Péter AU - Tar, József AU - Kovács, Levente AU - Kozlovszky, Miklós AU - Zrubka, Zsombor AU - Eigner, György AU - Drexler, Dániel András AU - Szakál, Anikó AU - Reicher, Viktória AU - Árendás, Csaba AU - Tarsoly, Sándor AU - Garamvölgyi, Tivadar AU - Rudas, Imre TI - Strategies and Outcomes of Building a Successful University Research and Innovation Ecosystem JF - ACTA POLYTECHNICA HUNGARICA J2 - ACTA POLYTECH HUNG VL - 21 PY - 2024 IS - 10 SP - 13 EP - 35 PG - 23 SN - 1785-8860 DO - 10.12700/APH.21.10.2024.10.2 UR - https://m2.mtmt.hu/api/publication/34849856 ID - 34849856 LA - English DB - MTMT ER - TY - CHAP AU - Stefanoni, Massimo AU - Csík, Dominik Miklós AU - Sarcevic, Péter AU - Odry, Ákos AU - Tar, József ED - Szakál, Anikó TI - Adaptive Control Lyapunov Function-based Controller Using Fixed Point Iteration T2 - SACI 2024: 18th IEEE International Symposium on Applied Computational Intelligence and Informatics: Proceedings PB - Institute of Electrical and Electronics Engineers (IEEE) CY - Timisoara SN - 9798350329513 PY - 2024 SP - 479 EP - 484 PG - 6 DO - 10.1109/SACI60582.2024.10619780 UR - https://m2.mtmt.hu/api/publication/34891850 ID - 34891850 LA - English DB - MTMT ER - TY - CHAP AU - Varga, Bence AU - Horváth, Richárd AU - Tar, József ED - Kovács, Levente ED - Haidegger, Tamás ED - Szakál, Anikó TI - Frequency-Dependent Feedback in Fixed Point Iteration-Based Adaptive Control T2 - Recent Advances in Intelligent Engineering PB - Springer Nature Switzerland CY - Cham SN - 9783031582578 T3 - Topics in Intelligent Engineering and Informatics, ISSN 2193-9411 ; 18. PY - 2024 SP - 201 EP - 215 PG - 15 DO - 10.1007/978-3-031-58257-8_11 UR - https://m2.mtmt.hu/api/publication/35163674 ID - 35163674 LA - English DB - MTMT ER - TY - CHAP AU - Varga, Bence AU - Tar, József AU - Horváth, Richárd TI - Robust Sliding Mode Control for a DC Motor with Low Resolution Encoder T2 - 2024 IEEE 28th International Conference on Intelligent Engineering Systems (INES 2024) PB - Institute of Electrical and Electronics Engineers (IEEE) CY - Piscataway (NJ) SN - 9798350367 PY - 2024 SP - 99 EP - 104 PG - 6 DO - 10.1109/INES63318.2024.10629157 UR - https://m2.mtmt.hu/api/publication/35146131 ID - 35146131 LA - English DB - MTMT ER - TY - JOUR AU - Varga, Bence AU - Tar, József AU - Horváth, Richárd TI - Fractional order inspired iterative adaptive control JF - ROBOTICA J2 - ROBOTICA VL - 42 PY - 2024 IS - 2 SP - 482 EP - 509 PG - 28 SN - 0263-5747 DO - 10.1017/S0263574723001595 UR - https://m2.mtmt.hu/api/publication/34439418 ID - 34439418 AB - Although several studies have revealed that fractional order controllers usually outperform conventional integer-order control solutions, fractional order controllers are not yet widely applied in industrial applications due to their complex mathematical background. In this paper, further improvements of a simple weighted sum feedback design are introduced that imitates the behavior of a fractional order controller but is free from its various formal restrictions. The proposed control solution has the main characteristics of a fractional order controller, such as finite memory length, excellent transient response with no overshoot and robust behavior, but it is placed into a much simpler mathematical framework. In the current paper, a simple derivative term was incorporated in the design which made the controller’s output more stable by completely eliminating output chattering. The proposed control method was developed for a general second-order system. It was tested in a fixed point iteration-based adaptive control scenario, through simulations using a robotic example and on experimental basis as well, utilizing a simple one-degree-of-freedom electromechanical system. The presented experiments are the first systematic investigations of the fixed point iteration-based adaptive control method. LA - English DB - MTMT ER - TY - CHAP AU - Atinga, Awudu AU - Tar, József TI - Application of Abstract Rotations in Data Driven Modeling Supported by Fixed Point Iteration-based Adaptive Control T2 - 2023 European Control Conference (ECC) PB - Institute of Electrical and Electronics Engineers (IEEE) CY - Piscataway (NJ) SN - 9783907144084 PY - 2023 PG - 6 DO - 10.23919/ECC57647.2023.10178172 UR - https://m2.mtmt.hu/api/publication/34430522 ID - 34430522 LA - English DB - MTMT ER - TY - JOUR AU - Atinga, Awudu AU - Tar, József TI - Tackling Modeling and Kinematic Inconsistencies by Fixed Point Iteration-Based Adaptive Control JF - MACHINES J2 - MACHINES VL - 11 PY - 2023 IS - 6 SP - 585 PG - 29 SN - 2075-1702 DO - 10.3390/machines11060585 UR - https://m2.mtmt.hu/api/publication/33905367 ID - 33905367 AB - The Fixed Point Iteration-based Adaptive Control design methodology is an alternative to the Lyapunov function-based technology. It contains higher-order feedback terms than the standard resolved acceleration rate control. This design approach strictly separates the kinematic and dynamic issues. At first, a purely kinematic prescription is formulated for driving the components of the tracking error to zero. Then an available approximate dynamic model is used to calculate the approximated necessary control forces. Before exerting on the controlled system, these forces are adaptively deformed in order to precisely obtain the prescribed kinematic behavior. The necessary deformation is iteratively found by the use of a contractive map that results in a sequence that converges to the unique fixed point of this map. In the case of underactuated systems, when the relative order of the control task also increases, the highest-order time-derivative depends on the lower-order ones according to the dynamic model of the system. This makes it impossible to realize the arbitrarily constructed kinematic design. In the paper, a resolution to this discrepancy is proposed. The method is demonstrated using two non-linear paradigms, a three-degree-of-freedom robot arm, and a two-degree-of-freedom system, i.e., two coupled non-linear springs. The operation of the method was investigated via simulations made by the use of Julia language and simple sequential programs. It was found that the suggested solution could be considered as a new variant of the fixed point iteration-based model reference adaptive control that is applicable for underactuated systems even if the relative order of the task is increased. LA - English DB - MTMT ER - TY - CHAP AU - Mohammad, Merei AU - Tar, József ED - Szakál, Anikó TI - Adaptive Backstepping Control Design for Nonlinear System T2 - IEEE 17th International Symposium on Applied Computational Intelligence and Informatics SACI 2023 : Proceedings PB - IEEE Hungary Section CY - Budapest SN - 9798350321104 PY - 2023 SP - 147 EP - 152 PG - 6 DO - 10.1109/SACI58269.2023.10158606 UR - https://m2.mtmt.hu/api/publication/33862078 ID - 33862078 LA - English DB - MTMT ER -