Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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Conference Object İha'lar için Gürbüz Takip Denetçisi(Institute of Electrical and Electronics Engineers Inc., 2013) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroǧlu, ErkanIn this study, a nonlinear control technique that guarantee exponential output tracking for unmanned aerial vehicles subject to uncertainties in system dynamics and additive nonlinear disturbances is developed. In the literature, dynamic inversion method which is a nonlinear control technique commonly used within the aerospace community to replace aircraft dynamics with a reference model. Dynamic inversion and robust control methods were usually utilized together to compensate for the uncertainties and ensure output tracking. Review of the literature highlights the fact that, in previous works, estimate of the uncertain system matrices was used in the controller design. In our study, we removed the requirement for the estimate of the uncertain system matrices and yet still guarantee exponential tracking of a reference model.Article Citation - WoS: 6Citation - Scopus: 7Neural Network Based Robust Control of an Aircraft(ACTA Press, 2020) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroǧlu, ErkanOutput tracking control of an aircraft subject to uncertainties in the dynamic model and additive state-dependent nonlinear disturbancelike terms is aimed. Uncertainties in the aircraft dynamic model yield an uncertain input gain matrix, which is neither positive definite nor symmetric and an uncertain term in the error dynamics. To deal with the uncertain input gain matrix, a decomposition method is utilized to put error dynamics in a form where an uncertain positive definite matrix multiplies the auxiliary error but this results in the control input to be pre-multiplied first with a unity upper triangular matrix which is uncertain and then with a known diagonal matrix. A novel controller composed of a neural network compensation term and an integral of signum of error is designed. A novel Lyapunov type stability analysis is utilized to prove global asymptotic tracking of output of a reference model. Extensive numerical simulations are presented to demonstrate the efficacy of the proposed controller where robustness to variation of initial states and a comparison with a robust controller are also shown. © 2020 Acta Press. All rights reserved.Article Citation - WoS: 11Citation - Scopus: 11Model Reference Tracking Control of an Aircraft: a Robust Adaptive Approach(Taylor and Francis Ltd., 2017) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanThis work presents the design and the corresponding analysis of a nonlinear robust adaptive controller for model reference tracking of an aircraft that has parametric uncertainties in its system matrices and additive state- and/or time-dependent nonlinear disturbance-like terms in its dynamics. Specifically, robust integral of the sign of the error feedback term and an adaptive term is fused with a proportional integral controller. Lyapunov-based stability analysis techniques are utilised to prove global asymptotic convergence of the output tracking error. Extensive numerical simulations are presented to illustrate the performance of the proposed robust adaptive controller.Article Citation - WoS: 5Citation - Scopus: 5Robust Output Tracking Control of an Unmanned Aerial Vehicle Subject To Additive State Dependent Disturbance(Institution of Engineering and Technology, 2016) Tanyer, İlker; Tatlıcıoglu, Enver; Zergeroglu, Erkan; Deniz, Meryem; Bayrak, Alper; Özdemirel, BarbarosIn this study, an asymptotic tracking controller is developed for an aircraft model subject to additive, state-dependent, non-linear disturbance-like terms. Dynamic inversion technique in conjunction with robust integral of the sign of the error term is utilised in the controller design. Compared to the previous studies, the need of acceleration measurements of the aircraft have been removed. In addition, the proposed controller design utilises only the output of aircraft dynamics. Lyapunov based analysis is applied to prove global asymptotic convergence of the tracking error signal. Numerical simulation results are presented to illustrate the performance of the proposed robust controller.Conference Object Citation - Scopus: 3A Robust Adaptive Tracking Controller for an Aircraft With Uncertain Dynamical Terms(Elsevier Ltd., 2014) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanThis work presents, the design and the corresponding analysis of a nonlinear controller for an aircraft system subject to uncertainties in the dynamics and additive state-dependent nonlinear disturbance-like terms. Specifically; dynamic inversion technique in conjunction with a robust integral of the signum of the error feedback and an adaptive term is utilized in the overall controller design. Lyapunov based stability analysis techniques are then utilized to prove global asymptotic convergence of the tracking error. © IFAC.Conference Object Citation - Scopus: 1A Robust Dynamic Inversion Technique for Asymptotic Tracking Control of an Aircraft(Institute of Electrical and Electronics Engineers Inc., 2013) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroğlu, ErkanIn this paper, a tracking controller is developed for an aircraft model subject to uncertainties in the dynamics and additive state-dependent nonlinear disturbance-like terms. In the design of the controller, dynamic inversion technique is utilized in conjuction with a robust term. Only the output of aircraft dynamics is utilized in the controller design and acceleration measurements are not required. Lyapunov based stability analysis is used to prove global asymptotic tracking. © 2013 IEEE.