Yazarlar

• Bingöl, Özhan(2)
• Güzey, Haci Mehmet(1)
• Güzey, Hacı Mehmet(1)
• Ronzhin, A.(1)
• Shishlakov, V.(1)

• MakaleAçık Erişim2022Scopus SJRQ1/r/gumushane/11789
  Finite-Time Neuro-Sliding-Mode Controller Design for Quadrotor UAVs Carrying Suspended Payload

  Bingöl, Özhan; Güzey, Hacı Mehmet

  Due to the quadrotor’s underactuated nature, suspended payload dynamics, parametric uncertainties, and external disturbances, designing a controller for tracking the desired trajectories for a quadrotor that carries a suspended payload is a challenging task. Furthermore, one of the most significant disadvantages of designing a controller for nonlinear systems is the infinite-time convergence to the desired trajectory. In this paper, a finite-time neuro-sliding mode controller (FTNSMC) for a quadrotor with a suspended payload that is subject to parametric uncertainties and external disturbances is designed. By constructing a finite-time sliding mode controller, the quadrotor can follow the reference trajectories in finite time. Furthermore, despite time-varying nonlinear dynamics, parametric uncertainties, and external disturbances, a neural network structure is added to the controller to effectively reduce chattering phenomena caused by high switching gains, and significantly reduce the size of the control signals. Following the completion of the controller design, the system’s stability is demonstrated using the Lyapunov stability criterion. Extensive numerical simulations with various scenarios are run to demonstrate the effectiveness of the proposed controller.

  AtıfScopus28·WoS22·OpenAlex21

  İncele
• BildiriYalnız künye2020Scopus SJRQ4/r/gumushane/11509
  Sliding mode control for a quadrotor UAV transporting a cable-suspended payload

  Bingöl, Özhan; Güzey, Haci Mehmet; Ronzhin, A.; Shishlakov, V.

  In this study, a second-order sliding mode control (2-SMC) strategy has been developed to control a small quadrotor UAV with a suspended payload. It is shown that the existence of a load will cause an oscillation on the system and its movement will remarkably change the dynamics of the quadrotor. In order to overcome this, an upgraded 2-SMC has been suggested to ensure the stability of the system. Firstly, the mathematical model of the quadrotor-suspended payload system is derived based on Lagrange approach, then the suggested controller is designed, and the stability of the system is proved by Lyapunov theory. Finally, numerical simulations are carried out to demonstrate the robustness of the proposed method.

  AtıfScopus3·OpenAlex4

  İncele