Browsing by Author "Guzey, M."

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Adaptive Consensus-Based Formation Control of Fixed-Wing MUAVs
(Institute of Electrical and Electronics Engineers Inc., 2017) Guzey, M.
Neural Network-based adaptive consensus control is designed in this paper for a team of fixed-wing unmanned aerial vehicles. The group of unmanned aerial vehicles moving at fixed altitudes are controlled through a novel adaptive formation controller to drive them to a pre-defined formation shape. The theoretical conjecture is verified by simulation results. © 2017 IEEE.
Adaptive Event-Triggered Regulation Control of Nonholonomic Mobile Robots
(Springer, 2020) Guzey, M.
In this chapter, the design of adaptive-regulation control of mobile robots (MR) in the presence of uncertain MR dynamics with event-based feedback is provided. Two layer neural-networks (NN) are utilized to represent the uncertain dynamics of the MR which is subsequently employed to generate the control torque with event-sampled measurement update. By relaxing the perfect velocity tracking assumption, control torque is developed to minimize the velocity tracking errors, by explicitly taking into account the dynamics of the MR. The Lyapunov’s method is utilized to develop an event-sampling condition and to demonstrate the regulation error performance of the MR. At the end of the chapter, simulation results are given to verify our theoretical claims. © Springer Nature Singapore Pte Ltd. 2020.
Classification of Robotic Battery Service Systems for Unmanned Aerial Vehicles
(EDP Sciences, 2018) Ngo, T.; Guzey, M.; Dashevsky, V.
Existing examples of prototypes of ground-based robotic platforms used as a landing site for unmanned aerial vehicles are considered. In some cases, they are equipped with a maintenance mechanism for the power supply module. The main requirements for robotic multi-copter battery maintenance systems depending on operating conditions, required processing speed, operator experience and other parameters are analyzed. The key issues remain questions of the autonomous landing of the unmanned aerial vehicles on the platform and approach to servicing battery. The existing prototypes of service robotic platforms are differed in the complexity of internal mechanisms, speed of service, algorithms of joint work of the platform and unmanned aerial vehicles during the landing and maintenance of the battery. The classification of robotic systems for servicing the power supply of multi-copter batteries criteria is presented using the following: The type of basing, the method of navigation during landing, the shape of the landing pad, the method of restoring the power supply module. The proposed algorithmic model of the operation of battery power maintenance system of the multi-copter on ground-based robotic platform during solving the target agrarian problem is described. Wireless methods of battery recovery are most promising, so further development and prototyping of a wireless charging station for multi-copter batteries will be developed. © The Authors, published by EDP Sciences.
Consensus-Based Localization by Using Array of Antennas on a Fixed-Wing UAV
(Institute of Electrical and Electronics Engineers Inc., 2019) Guzey, N.; Guzey, M.; Ronzhin, A.
A novel localization scheme, based on RSSI, is developed to make a fixed winged UAVs localize or track a target. Previous RSSI based localization methods require fingerprinting, knowledge about the transmitted power from the source as well as antenna and channel characteristics to apply the propagation loss formula. However, the proposed method in this paper only compares the received powers by antennas on a linear array and applying a control algorithm to ensure the consensus on received power, then find the location of the device. © 2019 IEEE.
Consensus-Based Localization of Devices with Unknown Transmitting Power
(Springer Verlag service@springer.de, 2018) Guzey, N.; Guzey, M.
A novel localization scheme, based on RSSI is demonstrated in this manuscript. Previous methods require fingerprinting which is not suitable to locate sources in different environments or they need to know the transmitted power from the source as well as antenna and channel characteristics to apply the propagation loss formula. However, the proposed method of this paper only compares the received powers by antennas on a linear array and applying a control algorithm to ensure the formation, then find the location of the source device. The new control algorithm is driven by using the differences of received signal powers. © Springer Nature Switzerland AG 2018.
Neuro Sliding Mode Control for Exoskeletons with 7 Dof
(Springer Science and Business Media Deutschland GmbH info@springer-sbm.com, 2021) Guzey, M.
In this paper, a novel neuro-sliding-mode controller (SMC) is developed for a 7-degree-of-freedom (DoF) upper exoskeleton. RBF-like neural network control is used to estimate the exoskeleton dynamics in the configuration of the sliding mode control. Stability of the neuro-SMC is derived on the basis of Lyapunov stability criteria. To validate our theoretical claims, simulation results are given at the end of the paper. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2021.
Neuro Sliding Mode Control for Exoskeletons with 7 DoF
(Sakarya University, 2020) Guzey, M.
In this work, a novel neuro-sliding mode controller (NSMC) is developed for a 7 degree of freedom (DoF) upper limb exoskeleton. Even though the regular sliding mode controller (SMC) is very sufficient tool when the unknown dynamics of the system is time invariant, variation in the unknown dynamics cannot be handled by regular SMC. Therefore, two-layer neural network (NN) is used to approximate the exoskeleton dynamics in the structure of the SMC. Stability of the NSMC is developed by using Lyapunov stability criteria. To validate our theoretical claims and to compare NSMC with regular SMC, simulation results are provided at the end of the paper. In the simulation section, advantage of the NSMC over regular SMC is presented in the presence of time-varying unknown exoskeleton dynamics. © 2020, Sakarya University. All rights reserved.
Nonlinear Consensus-Based Synchronizing Tracking Control of Networked DC Motors
(Institute of Electrical and Electronics Engineers Inc., 2018) Guzey, M.; Dumlu, A.
In this study, consensus-based synchronizing control for DC motors is presented. Nonlinear sliding mode based dynamical control of DC motors is extended for a group of networked DC motors and a novel consensus control is developed to make the motors reach the same state (position or speed). One of the motors in the network is assigned as the group leader. The leader is controlled through sliding mode controller to track a given desired trajectory. While the rest of the motors in the network are controlled through the novel synchronizing controller developed in this work. As long as the communication network is connected, it is shown that the motors eventually track the desired trajectory given to the leader without having any knowledge of the desired trajectory. Experimental results are provided at the end of the paper to verify our proposed theoretical claims. © 2018 IEEE.
Optimal Synchronizing Speed Control of Multiple DC Motors
(Institute of Electrical and Electronics Engineers Inc., 2018) Guzey, M.; Dumlu, A.; Guzey, N.; Alpay, A.
In this paper, optimal synchronization speed control of multiple DC motors is developed by using leader-follower based approach. One of the DC motor is considered as a leader motor and it tracks its desired speed trajectory. The other DC motor is controlled through a leader-follower based optimal formation controller developed in this work. If the leader DC motor slows down or speeds up for some reason, the follower DC motor synchronize its speed according to the leader without having any knowledge about the desired trajectory. By doing so, the multiple DC motors will be able to work together in a synchronized manner. The simulation results are given at the end of the paper to verify our theoretical claims. © 2018 IEEE.
Sliding Mode Control for a Quadrotor UAV Transporting a Cable-Suspended Payload
(Springer Science and Business Media Deutschland GmbH info@springer-sbm.com, 2020) Bingöl, Ö.; Guzey, M.
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. © Springer Nature Singapore Pte Ltd 2020.