Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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Article Model-free output feedback controller design for twin rotor systems(Muğla Sıtkı Koçman Üniversitesi, 2020) Deniz, Meryem; Tatlıcıoğlu, Enver; Bayrak, AlperIn this work, tracking control of twin rotor systems is aimed. The control problem is restricted by the lack ofmathematical model of the twin rotor and further complicated by the unavailability of the angular velocitymeasurements. A model–free controller in conjunction with a high gain observer is designed. Experiments performed on atwin rotor system demonstrates the viability of the controller–observer couple.Conference Object A New Continuous Velocity Observer Formulation for a Class of Uncertain Nonlinear Mechanical Systems(Institute of Electrical and Electronics Engineers, 2015) Bayrak, Alper; Tatlıcıoğlu, Enver; Zergeroǧlu, Erkan; Deniz, MeryemIn this study, we present a smooth robust velocity observer for a class of uncertain nonlinear mechanical systems. The smoothness of the observers is guaranteed by utilizing hyperbolic tangent function as opposed to signum-type functions applied in most robust and sliding mode observers found in the literature. The proposed observer does not require a priori knowledge of an upper bound of the uncertain system dynamics and introduces a time-varying observer gain for uncertainty compensation. Practical stability of the observer error is ensured via Lyapunov-type stability analysis. Numerical simulation studies backed up by experimental results are presented to illustrate the performance of the proposed observer.Article Citation - WoS: 1Experimental Verification of Lead-Lag Compensators on a Twin Rotor System(De Gruyter, 2018) Deniz, Meryem; Tatlıcıoğlu, Enver; Bayrak, AlperTwin rotor system is a laboratory setup resembling a simplified helicopter model that moves along both horizontal and vertical axes. The literature on control of twin rotor systems reflects a good amount of research on designing PM controllers and their extensions considering several aspects, as well as onsome nonlinear controllers. However, there is almost no previous work on design of lag-lead type compensators for twin rotor systems. In this study, by considering this open research problem, lag and lead type compensators are designed and then experimentally verified on the twin rotor system. Specifically, first, lag and lag-lag compensators are designed to obtain a reduced steady state error as compared with proportional controllers. Secondly, lead compensation is discussed to obtain a reduced overshoot. Finally, lag-lead compensators are designed to make use of their favorable properties. All compensators are applied to the twin rotor system in our laboratory. From experimental studies, it was observed that steady state error was reduced when a lag compensator was used in conjunction with a lead compensator.