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    Experimental verification of lead-lag compensators on a twin rotor system
    (De Gruyter Poland Sp Zoo, 2018) Deniz, Meryem; Tatlıcıoğlu, Enver; Bayrak, Alper
    Twin 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.
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    A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems
    (Asme, 2018) Deniz, Meryem; Bayrak, Alper; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In this study, the design of a smooth robust velocity observer for a class of uncertain nonlinear mechatronic systems is presented. The proposed velocity observer does not require a priori knowledge of the upper bounds of the uncertain system dynamics and introduces time-varying observer gains for uncertainty compensation. Practical stability of the velocity observation error is ensured via Lyapunov-type stability analysis. Experimental results obtained from Phantom Omni haptic device are presented to illustrate the performance of the proposed velocity observer.
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    MODEL-FREE OUTPUT FEEDBACK CONTROLLER DESIGN FOR TWIN ROTOR SYSTEMS
    (2020) Deniz, Meryem; Tatlicioğlu, Enver; Bayrak, Alper
    In 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.
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    Modelling twin rotor system with artificial neural networks
    (Ieee, 2015) Deniz, Meryem; Bıdıklı, Barış; Bayrak, Alper; Özdemirel, Barbaros; Tatlıcıoğlu, Enver
    In this study, the input output relation of the twin rotor system which was constructed in our laboratory is obtained by using ANNs. When compared with the existing literature, main advantage of this modelling approach is that multi input multi output ANN structure is used preferred. As a result of this approach, the cross coupling effects, between the rotors and also between the outputs, are taken into consideration. Thus, we sincerely believe that the obtained input output model demonstrates a close behavior to the real system.
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    A new continuous velocity observer formulation for a class of uncertain nonlinear mechanical systems
    (Ieee, 2015) Bayrak, Alper; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Deniz, Meryem
    In 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.
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    Robust output tracking control of an unmanned aerial vehicle subject to additive state dependent disturbance
    (Inst Engineering Technology-Iet, 2016) Tanyer, İlker; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan; Deniz, Meryem; Bayrak, Alper
    In 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.