Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example

Mert Ozcelik; Burak Kurkcu; Zeki Yagiz Bayraktaroglu

doi:10.1109/CCTA54093.2023.10252526

Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example

Mert Ozcelik^*, Burak Kurkcu, Zeki Yagiz Bayraktaroglu

^*Bu çalışma için yazışmadan sorumlu yazar

Makina Mühendisliği Bölümü

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

Özet

This study investigates the controller types and effects of the design techniques on gimbal stabilization. Since implementing the controllers and determining the system's robustness is straightforward, the frequency domain design approaches are widely used with linear controllers in electro-optical inertial stabilized systems. Besides, the required system models can be obtained from experimental data easily. Nevertheless, the system model could change in the operational conditions. Therefore, nonlinear controllers are needed in this situation. In this investigation, we obtained a proper system model using system identification methods to design a mixed-sensitivity H_∞ controller. Then, we proposed an input-output feedback linearization controller with a linear quadratic regulator (LQR) based state feedback controller design to stabilize the 2 degrees of freedom (DOF) gimbal. Finally, we compared these two controllers regarding reference tracking, sensitivity function, and disturbance rejection performances on the experimental setup under 6 DOF disturbance profiles.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	2023 IEEE Conference on Control Technology and Applications, CCTA 2023
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
Sayfalar	984-991
Sayfa sayısı	8
ISBN (Elektronik)	9798350335446
DOI'lar	https://doi.org/10.1109/CCTA54093.2023.10252526
Yayın durumu	Yayınlandı - 2023
Etkinlik	2023 IEEE Conference on Control Technology and Applications, CCTA 2023 - Bridgetown, Barbados Süre: 16 Ağu 2023 → 18 Ağu 2023

Yayın serisi

Adı	2023 IEEE Conference on Control Technology and Applications, CCTA 2023

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	2023 IEEE Conference on Control Technology and Applications, CCTA 2023
Ülke/Bölge	Barbados
Şehir	Bridgetown
Periyot	16/08/23 → 18/08/23

Bibliyografik not

Publisher Copyright:
© 2023 IEEE.

Finansman

*This work was supported in part by Aselsan Inc.

Finansörler	Finansör numarası
Aselsan

Belgeye Erişim

10.1109/CCTA54093.2023.10252526

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

Ozcelik, M., Kurkcu, B., & Bayraktaroglu, Z. Y. (2023). Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example. In 2023 IEEE Conference on Control Technology and Applications, CCTA 2023 (pp. 984-991). (2023 IEEE Conference on Control Technology and Applications, CCTA 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCTA54093.2023.10252526

Ozcelik, Mert ; Kurkcu, Burak ; Bayraktaroglu, Zeki Yagiz. / Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example. 2023 IEEE Conference on Control Technology and Applications, CCTA 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 984-991 (2023 IEEE Conference on Control Technology and Applications, CCTA 2023).

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title = "Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example",

abstract = "This study investigates the controller types and effects of the design techniques on gimbal stabilization. Since implementing the controllers and determining the system's robustness is straightforward, the frequency domain design approaches are widely used with linear controllers in electro-optical inertial stabilized systems. Besides, the required system models can be obtained from experimental data easily. Nevertheless, the system model could change in the operational conditions. Therefore, nonlinear controllers are needed in this situation. In this investigation, we obtained a proper system model using system identification methods to design a mixed-sensitivity H∞ controller. Then, we proposed an input-output feedback linearization controller with a linear quadratic regulator (LQR) based state feedback controller design to stabilize the 2 degrees of freedom (DOF) gimbal. Finally, we compared these two controllers regarding reference tracking, sensitivity function, and disturbance rejection performances on the experimental setup under 6 DOF disturbance profiles.",

author = "Mert Ozcelik and Burak Kurkcu and Bayraktaroglu, {Zeki Yagiz}",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE Conference on Control Technology and Applications, CCTA 2023 ; Conference date: 16-08-2023 Through 18-08-2023",

year = "2023",

doi = "10.1109/CCTA54093.2023.10252526",

language = "English",

series = "2023 IEEE Conference on Control Technology and Applications, CCTA 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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address = "United States",

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Ozcelik, M, Kurkcu, B & Bayraktaroglu, ZY 2023, Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example. in 2023 IEEE Conference on Control Technology and Applications, CCTA 2023. 2023 IEEE Conference on Control Technology and Applications, CCTA 2023, Institute of Electrical and Electronics Engineers Inc., pp. 984-991, 2023 IEEE Conference on Control Technology and Applications, CCTA 2023, Bridgetown, Barbados, 16/08/23. https://doi.org/10.1109/CCTA54093.2023.10252526

Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example. / Ozcelik, Mert; Kurkcu, Burak; Bayraktaroglu, Zeki Yagiz.
2023 IEEE Conference on Control Technology and Applications, CCTA 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 984-991 (2023 IEEE Conference on Control Technology and Applications, CCTA 2023).

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

TY - GEN

T1 - Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example

AU - Ozcelik, Mert

AU - Kurkcu, Burak

AU - Bayraktaroglu, Zeki Yagiz

PY - 2023

Y1 - 2023

N2 - This study investigates the controller types and effects of the design techniques on gimbal stabilization. Since implementing the controllers and determining the system's robustness is straightforward, the frequency domain design approaches are widely used with linear controllers in electro-optical inertial stabilized systems. Besides, the required system models can be obtained from experimental data easily. Nevertheless, the system model could change in the operational conditions. Therefore, nonlinear controllers are needed in this situation. In this investigation, we obtained a proper system model using system identification methods to design a mixed-sensitivity H∞ controller. Then, we proposed an input-output feedback linearization controller with a linear quadratic regulator (LQR) based state feedback controller design to stabilize the 2 degrees of freedom (DOF) gimbal. Finally, we compared these two controllers regarding reference tracking, sensitivity function, and disturbance rejection performances on the experimental setup under 6 DOF disturbance profiles.

AB - This study investigates the controller types and effects of the design techniques on gimbal stabilization. Since implementing the controllers and determining the system's robustness is straightforward, the frequency domain design approaches are widely used with linear controllers in electro-optical inertial stabilized systems. Besides, the required system models can be obtained from experimental data easily. Nevertheless, the system model could change in the operational conditions. Therefore, nonlinear controllers are needed in this situation. In this investigation, we obtained a proper system model using system identification methods to design a mixed-sensitivity H∞ controller. Then, we proposed an input-output feedback linearization controller with a linear quadratic regulator (LQR) based state feedback controller design to stabilize the 2 degrees of freedom (DOF) gimbal. Finally, we compared these two controllers regarding reference tracking, sensitivity function, and disturbance rejection performances on the experimental setup under 6 DOF disturbance profiles.

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M3 - Conference contribution

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BT - 2023 IEEE Conference on Control Technology and Applications, CCTA 2023

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Ozcelik M, Kurkcu B, Bayraktaroglu ZY. Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example. In 2023 IEEE Conference on Control Technology and Applications, CCTA 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 984-991. (2023 IEEE Conference on Control Technology and Applications, CCTA 2023). doi: 10.1109/CCTA54093.2023.10252526

Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example

Özet

Yayın serisi

???event.eventtypes.event.conference???

Bibliyografik not

Finansman

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap