Implementation of fractional order controller for stabilized visual tracking system in real military platforms

Download
2018
Karasoy, Mehmet Bayındır
Main tasks of the defence systems are mainly built on the stabilization and target tracking features of the platforms. The servo controllers in these platforms areresponsibletoobtaindesiredperformanceoverchallengingenvironments. In this thesis, Fractional Order Controller is developed and implemented to stabilized, visual tracking real military system. Aim of the study is to improve stabilization and target tracking performances of the gimbal. The system identification procedure is applied and system model is obtained to simulate real system conditions. The proposed controllers and their realization procedures with their optimal tuning studies are discussed. The comparison tests of integer order and fractional order controllers are performed both in simulations and real system. For real system tests, stewart platform is used to simulate external disturbances and stabilization accuracy and target tracking performances are measured

Suggestions

Study on Q-RAM and Feasible Directions Based Methods for Resource Management in Phased Array Radar Systems
Irci, Ayhan; Saranlı, Afşar; Baykal, Buyurman (2010-10-01)
Our recent progress and results on optimal real-time resource allocation in phased array radar systems are reported. A previously proposed discrete resource allocation approach, the Quality of Service based Resource Allocation Model (Q-RAM), is analyzed and is observed to generate nonoptimal results. We identify the shortcomings of this method and first extend it using the Karush-Kuhn-Tucker (KKT) optimality conditions for the single resource type case. We obtain an algorithm that delivers a globally optima...
Synthesis of Monitoring Rules with STL
Aydin, Sertac Kagan; Aydın Göl, Ebru (World Scientific Pub Co Pte Lt, 2020-09-01)
Online monitoring is essential to enhance the reliability for various systems including cyber-physical systems and Web services. During online monitoring, the system traces are checked against monitoring rules in real time to detect deviations from normal behaviors. In general, the rules are defined as boundary conditions by the experts of the monitored system. This work studies the problem of synthesizing online monitoring rules in the form of temporal logic formulas in an automated way. The monitoring rul...
Robust control for line-of-sight stabilization of a two-axis gimbal system
Baskin, Mehmet; Leblebicioğlu, Mehmet Kemal (The Scientific and Technological Research Council of Turkey, 2017-01-01)
Line-of-sight stabilization against various disturbances is an essential property of gimbaled imaging systems mounted on mobile platforms. In recent years, the importance of target detection from higher distances has increased. This has raised the need for better stabilization performance. For that reason, stabilization loops are designed such that they have higher gains and larger bandwidths. As these are required for good disturbance attenuation, sufficient loop stability is also needed. However, model un...
Optimal external configuration design of missiles
Tanıl, Çağatay; Platin, Bülent Emre; Department of Mechanical Engineering (2009)
The main area of emphasis in this study is to investigate the methods and technology for aerodynamic configuration sizing of missiles and to develop a software platform in MATLAB® environment as a design tool which has an ability of optimizing the external configuration of missiles for a set of flight requirements specified by the user through a graphical user interface. A genetic algorithm based optimization tool is prepared by MATLAB is expected to help the designer to find out the best external geometry ...
Trajectory tracking control of unmanned ground vehicles in mixed terrain
Bayar, Gökhan; Koku, Ahmet Buğra; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2012)
Mobile robots are commonly used to achieve tasks involving tracking a desired trajectory and following a predefined path in different types of terrains that have different surface characteristics. A mobile robot can perform the same navigation task task over different surfaces if the tracking performance and accuracy are not essential. However, if the tracking performance is the main objective, due to changing the characteristics of wheel-ground interaction, a single set of controller parameters or an equat...
Citation Formats
M. B. Karasoy, “Implementation of fractional order controller for stabilized visual tracking system in real military platforms,” M.S. - Master of Science, Middle East Technical University, 2018.