Browsing by Author "Altinuc, Kemal Orcun"

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    Article
    Citation - WoS: 5
    Citation - Scopus: 4
    Avoiding Contingent Incidents by Quadrotors Due To One or Two Propellers Failure
    (Public Library Science, 2023) Altinuc, Kemal Orcun; Khan, Muhammad Umer; Iqbal, Jamshed
    With the increasing impact of drones in our daily lives, safety issues have become a primary concern. In this study, a novel supervisor-based active fault-tolerant (FT) control system is presented for a rotary-wing quadrotor to maintain its pose in 3D space upon losing one or two propellers. Our approach allows the quadrotor to make controlled movements about a primary axis attached to the body-fixed frame. A multi-loop cascaded control architecture is designed to ensure robustness, stability, reference tracking, and safe landing. The altitude control is performed using a proportional-integral-derivative (PID) controller, whereas linear-quadratic-integral (LQI) and model-predictive-control (MPC) have been investigated for reduced attitude control and their performance is compared based on absolute and mean-squared error. The simulation results affirm that the quadrotor remains in a stable region, successfully performs the reference tracking, and ensures a safe landing while counteracting the effects of propeller(s) failures.
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    Conference Object
    Citation - Scopus: 1
    A New Approach for Addressing Slip Ratio Optimization and Trajectory Tracking Challenges in Autonomous Tractor Operations
    (Ieee, 2024) Aydin, Gulsah Demirhan; Aydemir, Ali Bahadir; Kansou, Mohamad Thaer; Altinuc, Kemal Orcun; Mechatronics Engineering; Mechatronics Engineering
    The usage of autonomous agricultural machines is increasing. In this study, two controllers have been designed for trajectory following and longitudinal tire slip ratio control of a rear-wheel independent traction electric autonomous tractor. The first controller is model predictive control (MPC) and the second controller is proportional integral derivative (PID) based. To evaluate the performance of the controllers in the simulation environment, a mathematical tractor model is prepared. Simulations have been made and performances of the designed controllers are shared.