Experimental results on adaptive output feedback control using a laboratory model helicopter

2002-01-01
Kutay, Ali Türker
Idan, Moshe
Hovakimyan, Naira
Experimental results are presented that illustrate a recently developed method for direct output feedback adaptive control. The method permits adaptation to both parametric uncertainty and unmodeled dynamics, and incorporates a novel approach that permits adaptation during periods of control saturation. A controller designed using this method was tested in controlling the pitch axis of a three degrees of freedom helicopter model, using attitude feedback through a low resolution optical sensor. © 2002 by the author(s).

Suggestions

Experimental results on adaptive output feedback control using a laboratory model helicopter
Kutay, Ali Türker; Idan, M; Hovakimyan, N (Institute of Electrical and Electronics Engineers (IEEE), 2005-03-01)
Experimental results are presented that illustrate a recently developed method for adaptive output feedback control. The method permits adaptation to both parametric uncertainty and unmodeled dynamics, and incorporates a novel approach that permits adaptation under known actuator characteristics including actuator dynamics and saturation. Only knowledge of the relative degree of the controlled system within the bandwidth of the control design is required. The controller design was tested by controlling the ...
Experimental evaluation of cable drum systems as linear motion sensors
KILIÇ, ERGİN; Dölen, Melik; Koku, Ahmet Buğra (2011-04-15)
This study evaluates cable-drum mechanisms as linear motion sensors for certain CNC applications. In this work, the dynamical attributes of a generic device are studied experimentally. The conducted research indicates that despite the significant traction force induced between the cable and its drum, small fluctuations in mechanism's speed yields a considerable (micro) slip at the interface.
Active surface passivation for SWIR InGaAs photodetectors
Necati, Işık; Kocaman, Serdar; Department of Aerospace Engineering (2022-1)
This thesis work offers a new method for improving one of the performance parameters in infrared photodetector technology. This method involves suppressing the surface dark current by utilizing a constant E-field on the surface of the photodetector. By interrupting the channel formation on the surface, a significant improvement in the generation-recombination (GR) dark current component is observed. Relatively minor improvements on differential resistance and the shunt component of the dark current are note...
Investigation of effect of design and operating parameters on acoustophoretic particle separation via 3D device-level simulations
Sahin, Mehmet Akif; ÇETİN, BARBAROS; Özer, Mehmet Bülent (Springer Science and Business Media LLC, 2019-12-16)
In the present study, a 3D device-level numerical model is implemented via finite element method to assess the effects of design and operating parameters on the separation performance of a microscale acoustofluidic device. Elastodynamic equations together with electromechanical coupling at the piezoelectric actuators for the stress field within the solid parts, Helmholtz equation for the acoustic field within fluid, and Navier-Stokes equations for the fluid flow are coupled for the simulations. Once the zer...
Background tracking of a video taken from a front camera of non maneuvering vehicle
Ünver, Önder; Demirekler, Mübeccel; Department of Electrical and Electronics Engineering (2014)
In this study, a novel background tracking technique is proposed that uses extended Kalman Gaussian mixture probability hypothesis density filtering approach. Since the background in a movie, taken from a front camera of a non maneuvering moving vehicle, exhibits a non-stationary nature, tracking the background is usually done by using pixel-wise comparisons in consequent frames. Besides, some methods use features of the background to track it. The proposed method uses the feature tracking approach. The fea...
Citation Formats
A. T. Kutay, M. Idan, and N. Hovakimyan, “Experimental results on adaptive output feedback control using a laboratory model helicopter,” 2002, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/57054.