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Mekatronik Mühendisliği Bölümü

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Browsing Mekatronik Mühendisliği Bölümü by Subject "Autonomous Package Delivery"

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    Citation Count: Ergezer, H.; Leblebicioğlu, H. (2023). "Control structure design with constraints for a slung load quadrotor system", Measurement and Control (United Kingdom).
    Control structure design with constraints for a slung load quadrotor system
    (2023) Ergezer, Halit; Leblebicioğlu, Kemal; 293396
    We propose a control structure for a quadrotor carrying a slung load with swing-angle constraints. This quadrotor is supposed to pass through the waypoints at specified speeds. First, a cascaded PID autopilot is designed, which adaptively gives attention to position and speed requirements as a function of their errors. Its parameters are found from an optimization problem solved using the PSO algorithm. Second, this controller’s performance is improved by adding the Complementary Controller employing an ANN. 5. Training data for the ANN is created by solving optimal control problems. The ANN is activated when the swing angle constraint is about to be violated. It is trained using optimal control values corresponding to the cases where the swing angle falls in a particular band about the upper swing angle constraint. Simulations are performed in a MATLAB environment. Finally, some of the simulation results are validated on a physical system.
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    Citation Count: Ateş, A...at all (2021). "Controller design for quadrotor-slung load system with swing angle constraints using particle swarm optimization", 2021 International Conference on INnovations in Intelligent SysTems and Applications, INISTA 2021 - Proceedings, 021 International Conference on INnovations in Intelligent SysTems and Applications, INISTA 2021.
    Controller design for quadrotor-slung load system with swing angle constraints using particle swarm optimization
    (2021) Ateş, A.; Coşan, O.; Değirmenci, B.; Ergezer, Halit; 293396
    In this paper, the controller is designed for a quadrotor carrying a slung load with a rope. When we consider the quadrotor and load pair, there are two cases: the quadrotor carries the load, and the load is on the ground. Since the dynamics of the system are different for these two cases, they must be considered separately. Therefore, a different PID controller is designed for each case. The necessary mechanism has been created to ensure that the transitions between these two controllers are smooth. The controller coefficients are adjusted so that the swing angles of the load are minimal. IMU has been added to the load-bearing mechanism to find out what angle the load is. Also, images of the load have been obtained with the camera located under the quadrotor. The swing angles have been calculated according to the position of the load in the image. Although our physical system studies continue, both the IMU and camera models have been created and integrated into the quadrotor-slung load model. PID coefficients have been obtained using the Particle Swarm Optimization method. Tests have been carried out on different flight profiles and the results obtained are presented. © 2021 IEEE.