Yazar "Guzey, Umit M." seçeneğine göre listele

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    Experiment of Sliding Mode Control with Nonlinear Sliding Surface Design for a 3-DOF Helicopter Model
    (IEEE, 2019) Guzey, Umit M.; Copur, Engin H.; Ozcan, Sinan; Arican, A. Cagri; Kocagil, B. Mahmut; Salamci, Metin U.
    Sliding Mode Control (SMC) is one of the effective robust control techniques against external disturbances, parameter uncertainties and unmodelled dynamics. However, there is no certain way to design the sliding surface (SS) for nonlinear systems, which has a key role in satisfying the stability and performance criteria. Thus, an optimal method can be useful in the design process of SS to deal with these weaknesses. In this study, State Dependent Riccati Equation (SDRE) based SMC is used to control the motion of a laboratory helicopter in two axes, namely travel and elevation axes. Experimental evaluation is performed using this 3-DOF helicopter platform and results are compared against a SMC with linear time-invariant SS to establish the efficacy of the approach. Therefore, this study presents experimental investigation for establishing the feasibility of the proposed optimal robust control architecture.
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    MRAC of a 3-DoF Helicopter with Nonlinear Reference Model
    (IEEE, 2018) Kocagil, B. Mahmut; Ozcan, Sinan; Arican, A. Cagri; Guzey, Umit M.; Copur, Engin H.; Salamci, Metin U.
    Model Reference Adaptive Control (MRAC) technique, which is considered to be an effective tool for the control of unknown dynamical systems behavior, is widely used in practical applications. In principal, a known stable linear model dynamics is taken as a reference model such that its response is tracked by the unknown dynamical system by means of an adaptive control scheme. In this paper, rather than using a linear reference model, we propose a nonlinear reference model to be used in the MRAC of nonlinear plant dynamics. First, a stable nonlinear reference model is formed by using State Dependent Riccati Equation (SDRE) approach. Then an adaptation rule is derived to ensure the convergence of the response of nonlinear plant dynamics to that of the nonlinear reference model. The proposed method is tested experimentally using a 3-DoF helicopter test bed with different parameters and working conditions.