Mumin Tolga Emirler

Mumin Tolga Emirler
Yildiz Technical University · Department of Aviation Electronics

PhD

About

37
Publications
13,813
Reads
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337
Citations
Introduction
My research interests lie in the broad area of control theory, its applications and mechatronics. In particular, applied robust control, vehicle dynamics control and control of automated and connected vehicles.
Additional affiliations
March 2019 - present
Yildiz Technical University
Position
  • Professor (Assistant)
February 2016 - March 2019
Istanbul Okan University
Position
  • Professor (Assistant)
February 2015 - September 2015
The Ohio State University
Position
  • PostDoc Position

Publications

Publications (37)
Article
The main purpose of this paper is to design a controller for improving the lateral stability of long heavy vehicle combinations based on active steering system. An augmented optimal linear quadratic control system design is implemented. The controller is developed and evaluated with step and lane change maneuvers for a truck and trailer combination...
Article
In the currently used steering systems, the front tires are steered dependently during turning maneuvers. During these maneuvers, the weight transfer causes the inner tire to have less vertical force compared to the outer tire. Therefore, it generates less lateral tire force and can be saturated easily in some extreme conditions. On the other hand,...
Conference Paper
İnsansız hava aracı sistemleri, geniş uygulama alanları nedeniyle son yirmi yılda giderek daha önemli bir teknoloji haline gelmiştir. Bu sistemler, otonom sürü insansız hava aracı filoları da dahil olmak üzere birçok uygulama için çok rotorlu, sabit kanatlı gibi farklı biçimlerde kullanılmıştır. Bu yayın doğal afetlerde afetzedelere yardım paketi u...
Conference Paper
Full-text available
This paper is on the automated driving architecture and operation of a light commercial vehicle. Simple longitudinal and lateral dynamic models of the vehicle and a more detailed CarSim model are developed and used in simulations and controller design and evaluation. Experimental validation is used to make sure that the models used represent the ac...
Preprint
Full-text available
There is growing interest in fully electric vehicles in the automotive industry as it becomes increasingly more difficult to meet new and upcoming emission regulations based on internal combustion engines. Fully electric vehicles do not have an internal combustion engine. Hence, drive torque change for a traction control system and for a yaw stabil...
Conference Paper
The improving stability of the vehicle’s behavior and handling is the main focus in vehicle dynamics studies. The yaw stability can be improved by utilizing the differential braking, the active steering or the coordinated control of these systems. In current configuration of the active steering systems, the left and right front tires are dependentl...
Article
Full-text available
Automated path following is one of the major problem in automated vehicle control. Automated vehicle should follow the desired path to minimize the lateral deviation from the path while traveling at the desired speed. In this paper, LQI control method is proposed to solve this problem. LQI based control system is designed based on speed dependent g...
Conference Paper
In this paper, different time delay compensation methods are applied to networked DC motor speed control such as Smith predictor, communication disturbance observer (CDOB), double disturbance observer (DDOB). The PI speed control system structures augmented with these methods are introduced. The reference tracking and external disturbance rejection...
Article
Full-text available
Time delay is a control system design factor, which reduces the performance of the system and makes the system unstable in the worst case. Many methods have been proposed in the literature for time delay compensation and the Smith predictor is the most widely used. Although the Smith predictor is easy to implement, the delay compensation performanc...
Article
A graphical control system design approach is proposed in this Letter considering time delay margin and time-integral performance criterion. For two free design parameters, time delay margin boundaries are plotted into 2D parameter plane by using parameter space approach. The details of obtaining design equations are introduced. A time-integral err...
Conference Paper
Full-text available
In this study, a new method is proposed to estimate the tire-road friction coefficient which plays an important role in the performance of the driver assistance systems such as ABS, TCS and ESC. The method focuses on the assumption that the front tires could be steered individually. By steering both front tires to increase the side slip angles, the...
Conference Paper
Full-text available
This paper is on the design of an active steering control system for improving the lateral performance of a truck and trailer vehicle combination. The nonlinear and linear truck and trailer model is presented in the paper. The desired truck and trailer yaw rate values are calculated by using a linear vehicle model. Two PID type control systems are...
Article
This paper is on the design of cooperative adaptive cruise control systems for automated driving of platoons of vehicles in the longitudinal direction. Longitudinal models of vehicles with simple dynamics, an uncertain first order time constant and vehicle to vehicle communication with a communication delay are used in the vehicle modeling. A robus...
Article
Hardware-in-the-loop (HiL) simulation is a very powerful tool to design, test and verify automotive control systems. However, well-validated and high degree of freedom vehicle models have to be utilized in these simulations in order to obtain realistic results. In this paper, a vehicle dynamics model developed in the Carsim Real Time program enviro...
Conference Paper
Full-text available
Time delay is one of the important control system design factor, which reduces the performance of the system and makes the system unstable in the worst case. Many methods have been proposed in the literature for time delay compensation and the Smith predictor is the most widely used. Although the Smith predictor is easy to implement, the delay comp...
Article
The parameter space approach based robust PI control design methodology for DC motor speed control is proposed in this paper. The multi-objective design requirements like D-stability, phase margin and mixed sensitivity (frequency domain) bounds are mapped into the controller parameter space to determine PI controller coefficients which satisfies th...
Article
Full-text available
This paper considers the problem of avoidance of collision with vulnerable road users like pedestrians and cyclists during automated driving. An elastic band based collision avoidance method is used to calculate a collision free path. Safety distance improvements are proposed in order to provide social acceptance of the collision avoidance maneuver...
Chapter
Early work on autonomous vehicles can be traced back to work on autonomous operation of mobile robots motivated by the need to use such devices in unmanned space exploration. Research on mobile robotics has, thus, been inspirational for autonomous road vehicles and automated driving. The well-known and well-publicized Defense Advanced Research Proj...
Article
Full-text available
Engine calibration work requires the use of realistic simulation models for designing and testing powertrain control algorithms in offline simulations before hardware-in-the-loop, dynamometer and road testing. These models should be computationally efficient for repeated offline simulation runs. Also, they should have a modular, standardized struct...
Conference Paper
Automated driving vehicles are expected to be ready for series production by 2020. An important component of automated driving technologies is controlled path following under longitudinal speed control. In this paper, a robust path following controller design based on lateral deviation and yaw angle error determination of the vehicle is proposed. T...
Article
The problem of vehicle lateral stability control for fully electric vehicles is addressed in this paper using two different approaches. One of them is a novel integrated lateral stability control (ILSC) system and the second one is a regenerative braking based lateral stability control system (RB-LSC). The proposed ILSC system is based on correctiv...
Article
Vehicle yaw stability control systems like ESP are important active safety systems used for maintaining lateral stability of the vehicle during unexpected, adverse driving situations like μ-split braking, driving on icy road and sudden side wind. Vehicle yaw rate is the key data in an ESP system. This paper explores the possibility of estimating ve...
Article
Full-text available
This paper is on the design of a parameter space based robust PID steering controller. This controller is used for automated steering in automated path following of a midsized sedan. Linear and nonlinear models of this midsized sedan are presented in the paper. Experimental results are used to validate the longitudinal and lateral dynamic models of...
Conference Paper
The presence of time delay can cause stability problems in closed loop systems as it adds large negative phase angle to the system frequency response. The Smith predictor is a well-known method of dealing with fixed and known time delays in control systems. Errors in the knowledge of the time delay will cause degradation of the Smith predictor comp...
Article
Full-text available
Road vehicle yaw stability control systems like electronic stability program (ESP) are important active safety systems used for maintaining lateral stability of the vehicle. Vehicle yaw rate is the key parameter that needs to be known by a yaw stability control system. In this paper, yaw rate is estimated using a virtual sensor which contains kinem...
Article
Full-text available
A cooperating autonomous vehicle platform is introduced in this paper for research work on automated path following and cooperative mobility. This platform is implemented on the autonomous research vehicle Okanom of Istanbul Okan University. The hardware and software components added to Okanom for cooperative autonomous driving are presented. The G...
Article
This paper presents the cooperative adaptive cruise control implementation of Team Mekar at the Grand Cooperative Driving Challenge (GCDC). The Team Mekar vehicle used a dSpace microautobox for access to the vehicle controller area network bus and for control of the autonomous throttle intervention and the electric-motor-operated brake pedal. The v...
Conference Paper
Vehicle stability control systems are important components of active safety systems for road transport. Also, there is growing interest in electric vehicles in the automotive industry as it becomes increasingly more difficult to meet the new and upcoming emission regulations based on internal combustion engines. As a result, some auto makers are al...
Article
Full-text available
A novel design of compliant slider-crank mechanism is introduced and utilized as an impact and contact-force generator. This class of compliant slider mechanisms incorporates an elastic coupler, which is an initially straight flexible beam and buckles when it hits the stopper. The elastic pin-pin coupler, a buckling beam, behaves as a rigid body pr...
Conference Paper
Full-text available
The use of a combined kinematic relation plus speed scheduled Kalman filter virtual sensor for estimating road vehicle yaw rate is the topic of this paper. This virtual sensor uses the wheel speed data as its main input. A mid-sized sedan is used as the vehicle. A linear single track model of this mid-sized sedan with the measurable vehicle speed v...
Article
Full-text available
A novel design of compliant slider crank mechanism is introduced and utilized as an impact force generator and contact force generator. This class of compliant slider mechanisms incorporates an elastic coupler which is an initially straight flexible beam and buckles when it hits the stopper. The elastic pin-pin coupler (a buckling beam) behaves as...

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Projects

Projects (3)
Project
Automated vehicles have been attracting much attention in recent years. One of the main part of automated vehicle research is developing control systems. The aim of this project is to design, test and analyze of longitudinal and lateral control systems from advanced driver assistance systems to connected fully automated vehicle control.
Project
Disturbance Observer (DOB) is a well-established method used for achieving insensitivity against modelling errors, disturbance rejection, and sensor noise attenuation. There are some extensions of DOB for time delay compensation named Communication Disturbance Observer (CDOB), and Double Disturbance Observer (DDOB). The aim of this research is to design and analysis of DOB, CDOB and DDOB added control systems.
Project
Parameter space approach is a well-established control method for robustness analysis and robust controller desing along with the frequency domain approaches. The aim of this project is to investigate parameter space approach based robust control system analysis and design methods and apply them to mechatronic systems, especially to vehicle control problems.