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Yayın A new robust stability criterion for dynamical neural networks with multiple time delays(Elsevier Science BV, 2013-01-01) Faydasıçok, Özlem; Arik, SabriThis paper investigates the problem of the existence, uniqueness and global asymptotic stability of the equilibrium point for the class of neural networks with multiple time delays and parameter uncertainties. Under the assumption that the activation functions are globally Lipschitz continuous, we derive a new criterion for the robust stability of a class of delayed neural networks by utilizing the Lyapunov stability theorems and the Homomorphic mapping theorem. Different from those previously published conditions in the recent literature, the robust stability result presented in this paper not only establishes a time-independent relationship between the network parameters of the neural network, but also takes into account the number the neurons of the designed neural system. Some illustrative numerical examples are also given to make a detailed comparison between our result and the previously published corresponding results. This comparison proves that our result is new and can be considered an alternative condition to those of the previously reported robust stability results.Yayın End-effector trajectory control in a two-link flexible manipulator through reference joint angle values modification by neural networks(Sage Publications, 2006-02) Öke, Gülay; İstefanopulos, YorgoThe basic difficulty in the control of flexible link manipulators stems from the fact that the link deflections cannot be controlled directly. Since the number of control inputs, applied by the actuators, is less than the total number of variables to be controlled, control approaches aiming at the suppression of deflections and vibrations are generally insufficient. Another possible approach is to determine new joint trajectories to minimize the error of the end-effector in the operational space. In this paper, a neural network is designed to compute incremental changes for the reference values of the joint angles to achieve successful tip tracking in the operational space. Tip position errors in the x- and y-directions are utihzed as inputs to the neural network. The cost function, which is minimized in training the neural network, is also chosen as the sum of squares of the tip position error in both directions. Joint angle control is provided by a PD controller. Simulations are carried out to evaluate the performance of the neural-network-based trajectory tracking method, and the results are depicted in both joint and operational spaces.Yayın New global robust stability condition for uncertain neural networks with time delays(Elsevier Science BV, 2014-10-22) Özcan, Neyir; Arik, SabriIn this paper, we investigate the robust stability problem for the class of delayed neural networks under parameter uncertainties and with respect to nondecreasing activation functions. Firstly, some new upper bound values for the elements of the intervalized connection matrices are obtained. Then, a new sufficient condition for the existence, uniqueness and global asymptotic stability of the equilibrium point for this class of neural networks is derived by constructing an appropriate Lyapunov-Krasovskii functional and employing homeomorphism mapping theorem. The obtained result establishes a new relationship between the network parameters of the neural system and it is independent of the delay parameters. A comparative numerical example is also given to show the effectiveness, advantages and less conservatism of the proposed result.
