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- MakaleAçık Erişim2026Enhanced control of a two-wheeled gyroscopic combat robot with variable CMG disk speeds using LQR-Based neural network
Oğuz, Yasin; Ünker, Faruk; Cetin, Gokhan
This study proposes a hybrid control approach to improve the stability and adaptability of a two-wheeled gyroscopic combat robot by integrating deep learning with Linear Quadratic Regulator (LQR) control. Due to their inherently unstable nature, two-wheeled robots face challenges maintaining balance, especially when Control Moment Gyroscope (CMG) disk speeds vary, which significantly affect system dynamics. While LQR provides effective stabilization by minimizing a cost function, its performance degrades when disk speeds change. To overcome this limitation, a Neural Network (NN) was trained on 42001 precomputed LQR gain sets optimized for CMG disk speeds ranging from 800 to 5000 rad/s. The trained NN predicts appropriate coefficients in real time, enabling adaptive control under dynamic operating conditions. Simulation results demonstrate that the hybrid NN-LQR controller maintains stability under recoil forces up to 3000 N, where the conventional LQR loses balance about 4–6 seconds. Furthermore, the proposed controller reduces energy consumption by 21.6% during steady-state operation within the first 5 seconds and 10.6% under recoil conditions within the first 3 seconds compared to classical LQR. Although developed for a combat robot, the proposed framework offers a scalable solution for broader robotic applications such as search and rescue, surveillance, and autonomous navigation in complex environments, contributing to the advancement of intelligent control in robotics.
- MakaleAçık Erişim2023Dar Alan Oyunlarının Genç Futbolcularda Teknik Beceri ve Fiziksel Özelliklere Etkisi (Filistin Örneği)
Bostancı, Özgür; Yılmaz, Coşkun; Sabah, Diya Mohammed Jamil
Çalışmamızın amacı genç futbolcularda (U14) dar alan oyunlarının teknik beceri ve fiziksel özelliklerin gelişimine etkisi var mı? (Filistin örneği) sorusunun incelenmesidir. Filistin’in Batı Şeria eyaletine bağlı Kültürel Tulkarem Spor Kulübünde alt yapı sporcularının oluşturduğu 40 erkek futbolcu (20 denek ve 20 kontrol grubu) katılmıştır. Çalışmaya katılan futbolculardan 8 hafta boyunca 30x42 mt’lik saha ölçülerine sahip 5x5 dar alan oyunları oynatılmıştır. Antrenman öncesi ve 8 hafta sonrası teknik ve fiziksel ölçümler alınmıştır. Araştırmada toplanan veriler SPSS 22.0 V istatistik programında analizleri hesaplanmıştır. Verilere öncelikle normallik varsayımı için Shapiro-Wilk testi uygulanmış ve normal dağılım gösteren verilere grupların ön-son test farklılıkları için Paired Sample T testi kullanılmıştır. Analiz sonucunda çalışmaya katılan futbolcuların dar alan oyunları (8 haftalık) önce ve sonrası fiziksel parametre farklarının karşılaştırılmasında, zikzak testi, t çeviklik testi, otur eriş testi, durarak uzun atlama, dikey sıçrama, yoyo mesafe ve MaxVO2 parametrelerinde denek grubunun kontrol grubunda daha yüksek artışların olduğu ve dar alan oyunlarının fiziksel ölçüm parametrelerine etkisinin olduğu görülmüştür. Çalışmaya katılan futbolcuların teknik test sonuçlarının karşılaştırılmasında ise, kafa ile top saydırma ve teknik puan hariç diğer ölçümlerde anlamlı artış hesaplanmıştır. Denek grubundaki artışın kontrol grubunda daha fazla olduğu hesaplanmıştır (p<0,05). Sonuç olarak, genç futbolcularda dar alan oyunlarının fiziksel özellik ve teknik becerilerin gelişmesine katkısı görülmüştür.
- MakaleAçık Erişim2022Oscillation Control of Two-Wheeled Robot using a Gyrostabilizer
Ünker, Faruk
Two-wheeled robots are popular in transportation applications because of their high maneuverability. In this research, the oscillation attenuation performance of the control moment gyroscope (CMG) for the two-wheeled robot was studied. The stored kinetic energy of a CMG can offer a weight and volume saving compared to conventional vibration absorbers. This CMG is also more reactionless than other conventional absorbers by transforming the impact of angular momentum to unidirectional thrust along the center of gravity. The gimbals can precess while providing the angular momentum under the gravitational force. This study indicated that the CMG can operate in a wide range of excitation frequencies to balance the robot in a stable period. Because the flywheel speed is much easier changed to thrust against the unwanted oscillations disturbing the robot stability. There is a relation between the gimbal amplitude and the flywheel speed of CMG, in which the required flywheel speed can be reduced if the higher gimbal amplitude is chosen. It can be also concluded from the study that the oscillation amplitudes at the target frequency can decrease as much as flywheel speed increases. There was also a mathematical model using ANSYS software. The simulation results using ANSYS matched well with the theoretical results of the Lagrangian model.
- MakaleAçık Erişim2021Hexarotor Longitudinal Flight Control with Deep Neural Network, PID Algorithm and Morphing
Oktay, Tugrul; Kose, Oguz
Unmanned Aerial Vehicles (UAV) have become an integral part of life, from military operations to entertainment. With this popularity, the interest of researchers on these UAVs has gradually increased. The use of UAVs in many areas and the researches carried out by researchers have revealed the limitations of these devices. At the beginning of these restrictions is the passage through the narrow space. In this study, longitudinal flight control of a hexarotor UAV is discussed with morphing. The limitation of this study is that it is difficult to estimate the moment of inertia and proportional integral derivative (PID) coefficient values according to the arm length, since there is a change in the hexarotor arm lengths with the morphing and the rigid body model changes accordingly. In this study, it is aimed to obtain these parameters with the Deep Neural Network(Artificial Neural Network(ANN) with two or more hidden layers) to overcome this problem. 15 drawings of hexarotor morphing states were drawn in Solidworks program. A training set was created by obtaining the PID coefficients for the longitudinal flight of these drawings from the Matlab/Simulink program. The training set was taught to the Deep Neural Network and moments of inertia and PID coefficients were obtained according to the arbitrarily estimated arm extension or shortening rates. In addition, the hexarotor dynamic model was derived according to the Newton-Euler approach and modeled using the state space model. The longitudinal flight of the hexarotor is simulated with the state space model. The moment of inertia and PID coefficients were estimated by Deep Neural Network according to the values determined by the program randomly together with the initial state. Simulations were made with these parameters and the results were given in graphics.
- MakaleAçık Erişim2021Combined Quadrotor Autopilot System and Differential Morphing System Design
Oktay, Tugrul; Kose, Oguz
The aim of this article is to design and model a quadrotor with autopilot system and differential morphing using the Simultaneous Perturbation Stochastic Approximation (SPSA) optimization algorithm. Along with differential morphing, quadrotor modelling and control was also done. Although it is simple in structure, it has a complex structure in terms of model and control. Newton-Euler method was used for the dynamic model. Non-linear motion equations have been converted to linear motion equations. The full quadrotor model was drawn in the Solidworks program. Mass and moment of inertia information was obtained from this model. Simulation model was created by using state space model approach in Matlab / Simulink environment. Proportional integral derivative (PID) algorithm was used as the control structure. Differential morphing and PID coefficients rates were determined with SPSA. With the optimization method, determining the differential morphing rate, PID coefficients and applying it to the quadrotor provides a very innovative method.
- MakaleAçık Erişim2020Investigation of the Effect of Differential Morphing on Lateral Flight by Using PID Algorithm in Quadrotors
Oktay, Tugrul; Kose, Oguz
Quadrotor is unmanned aerial vehicles that are widely used in military and civil fields. Quadrotors differ from conventionalhelicopters, which use rotors that are able to vary the pitch of their blades dynamically as they move around the rotor hub. Quadrotorsgenerally use two pairs of identical fixed pitch propellers; two clockwise (CW) and two counterclockwise (CCW). These useindependent variation of the speed of each rotor to achieve control. In this study, the quadrotor lateral flight and the effect ofmorphing on this flight were investigated. Morphing is called the change of unmanned aerial vehicles in their geometry. NewtonEuler method is used to create the quadrotor model. However, since the quadrotor is a system with non-linear dynamics, motionequations are converted to linear equations. The quadrotor full model was drawn in the Solidworks program, including batteries,controllers and propellers, in accordance with its actual dimensions. State space model approach was used in simulations in Matlab /Simulink environment. The value of mass and inertia moments from the Solidworks program is used in the state space model.Proportional integral derivative (PID) was used as the control algorithm. PID is an algorithm widely used in industrial applications.PID is preferred because it is strong, fast and simple. The system to which PID will be applied must be linear. The PID coefficientsKp, Ki and Kd are important for the stable operation of the system. Appropriate values should be chosen. In this study, lateral flightperformance was monitored using differential morphing and PID algorithm and the results were presented.
- MakaleAçık Erişim2020Investigation of the Effect of Differential Morphing on Forward Flight by Using PID Algorithm in Quadrotors
Oktay, Tugrul; Kose, Oguz
In this study, modeling, control and differential morphing of a four-rotor unmanned aerial vehicle known as a quadrotor isdiscussed. With differential morphing, the forward flight performance and model of an autonomous quadrotor is presented.Due to the complex structure of the quadrotor, it is difficult to build the model. To get model parameters, a complete quadrotormodel is drawn in the Solidworks program. In addition, Newton-Euler equations are used in the mathematical model.Simulation is done in Matlab / Simulink environment by using the parameters obtained from the model and the state-spacemodel approach. PID (proportional, integral, derivative) is used as the quadrotor control algorithm. As a result of the study,the quadrotor forward flight is carried out using PID algorithm and differential morphing. The system characteristics of thesituations with and without differential morphing are compared and the results are presented with graphs.
- MakaleAçık Erişim2020Determination of the Forces and Torques Acting on the Upper Limb Joints with Dynamic Model Using Wearable Motion Sensors
Yilmaz, Sezcan; Usanmaz, Bilal; Yanıkören, Mithat; Tezgel, Selim; Gundogdu, Omer; Yazar, Mehmet
In this study, it was aimed to determine the forces and torques acting on the shoulder and elbow joints of the upper limbs, which are the most commonly used body parts in daily life. The subject was asked to take a certain load on the table while standing upright, bring him closer to himself and leave it back. A dynamic model was created using the Newton-Euler method to determine the joint force and torque occurring in the shoulder and elbow during the movements performed by the selected subject while performing this task. Wearable motion sensors were used to measure the location data of the joints. The torque and link force values in the joints were calculated using the dynamic model created with the motion data received from these sensors. The calculation results obtained were evaluated comparatively and it was revealed in which cases the forces and torques acting on the joints increased and what measures could be reduced.
- MakaleAçık Erişim2020Lateral Control with Differential and Collective Morphing in Quadrotors
Oktay, Tugrul; Kose, Oguz
Quadrotor are four-rotor unmanned aerial vehicles(UAV). These vehicles are widely used in military and civilian areas. They are preferred because they eliminate the risk of life of pilots. In this study, the effect of morphing, which is a new and developmental phenomenon in unmanned aerial vehicles, on lateral flight is discussed. Quadrotor modeling is achieved by Newton Euler approach. Models with quadrotor full and morphing states were drawn in Solidworks program. Simulations were made using the state space model approach in Matlab environment with the moment of inertia and mass values obtained in these models. Proportional integral derivative(PID) is used as the quadrotor control algorithm. Simulations are performed separately for each morphing situation. The results are presented with graphic and design performance criteria.
- MakaleAçık Erişim2019Dynamic Modeling and Simulation of Quadrotor for Different Flight Conditions
Oktay, Tugrul; Kose, Oguz
In this paper, a four-rotor unmanned aerial vehicle was modeled, a control system was designed and performance evaluations weremade. For the control system, a separate mathematical model of the unmanned aerial vehicle longitudinal, lateral and vertical take-offand landing operations is omitted and is expressed as a state space model. The mathematical model of the wind disturbances that willaffect the unmanned aerial vehicle during the flight was created and the situation was added to the space model. Proportional IntegralDerivative (PID) control algorithm was used as the control. Unmanned aerial vehicle modeling was done in Solidworks andsimulations were done in Matlab / Simulink program.
- MakaleYalnız künye2019Quadrotorlar için Eş Zamanlı Olmayan Başkalaşım Tasarımı
Oktay, Tugrul; Kose, Oguz
Quadrotor ticari, askeri ve dış mekân uygulamalarında yaygın olarak kullanılan dört rotorlu insansız hava aracı türüdür. Bu çalışmadaquadrotor’un boylamasına ve yanlamasına olan uçuşunun modellemesi, kontrolü ve uçuş sırasındaki geometri değişimi ile başkalaşımdurumu ele alındı. Başkalaşım işlemi boylamasına ve yanlamasına uçuşta aynı anda gerçekleşmemektir. Quadrotor uçuş sırasındakigeometri değişimi ya da uçuştan önce yerde iken meydana gelen geometri değişimi başkalaşım olarak ifade edilir. Quadrotor türüinsansız hava araçlarında kolların uzayıp kısalması ve kol kesişim açılarının değiştirilmesi gibi çeşitli başkalaşım türleri vardır bubaşkalaşım türlerine çalışmada yer verildi. Quadrotor yapısal olarak basit olmasına rağmen kontrol yapısı olarak zor ve karmaşık birsistemden oluşur. Quadrotor matematiksel modeli non-lineer bir yapıya sahiptir. Bu yapı kullanılarak quadrotor kontrolü sağlanabilirfakat bu çalışma kapsamında lineer olmayan yapı çeşitli yöntemler kullanılarak lineer duruma getirildi. Lineer ifadeler çeşitli giriş veçıkışlar kullanılarak durum uzay modeli yaklaşımı ile ifade edildi. Dinamik modelin elde edilmesinde quadrotor sistemlerinde yaygınolarak kullanılan Newton Euler metodu kullanıldı. Durum uzay modeli kullanılarak sistemin simülasyonu Matlab / SIMULINKortamında gerçekleştirildi. Matlab / SIMULINK için gerekli olan parametreler ve sistemin grafiksel çizimi ise CAD programındayapıldı. Bu programdan kütle, atalet gibi parametreler elde edildi. Sistemin kontrolünde ise yaygın olarak kullanılan PID algoritmasıkullanıldı. Kontrol sistemi için gerekli olan Kp, Ki ve Kd gibi katsayılar ise deneysel olarak elde edildi. Von Karmana Türbülansmodeli quadrotor belirli bir gürültü altında yükselme, boylamasına, yanlamasına ve yörünge izleme işlemleri için kullanıldı. Buçalışmanın sonucu olarak eş zamanlı olmayan morphing ile boylamasına ve yanlamasına uçuş belirli bir gürültü altında PID kontrolalgoritması kullanılarak gerçekleştirilmiş ve sonuçlar grafikler ile ortaya konulmuştur.