DSpace Repository

Control structure design with constraints for a slung load quadrotor system

Show simple item record

dc.contributor.author Ergezer, Halit
dc.contributor.author Leblebicioğlu, Kemal
dc.date.accessioned 2023-11-29T12:51:53Z
dc.date.available 2023-11-29T12:51:53Z
dc.date.issued 2023
dc.identifier.citation Ergezer, H.; Leblebicioğlu, H. (2023). "Control structure design with constraints for a slung load quadrotor system", Measurement and Control (United Kingdom). tr_TR
dc.identifier.issn 00202940
dc.identifier.uri http://hdl.handle.net/20.500.12416/6695
dc.description.abstract 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. tr_TR
dc.language.iso eng tr_TR
dc.relation.isversionof 10.1177/00202940231189507 tr_TR
dc.rights info:eu-repo/semantics/closedAccess tr_TR
dc.subject Artificial Neural Networks tr_TR
dc.subject Autonomous Package Delivery tr_TR
dc.subject Particle Swarm Optimization tr_TR
dc.subject Slung Load Quadrotor System tr_TR
dc.title Control structure design with constraints for a slung load quadrotor system tr_TR
dc.type article tr_TR
dc.relation.journal Measurement and Control (United Kingdom) tr_TR
dc.contributor.authorID 293396 tr_TR
dc.contributor.department Çankaya Üniversitesi, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü tr_TR


Files in this item

Files Size Format View

There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record