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Article Citation - WoS: 2Citation - Scopus: 1Autonomous Landing of a Quadrotor on a Moving Platform Using Motion Capture System(Springer, 2024) Qassab, Ayman; Khan, Muhammad Umer; Irfanoglu, BulentThis paper investigates the challenging problem of the autonomous landing of a quadrotor on a moving platform in a non-cooperative environment. The limited sensing ability of quadrotors often hampers their utilization for autonomous landing, especially in GPS-denied areas. The performance of motion capture systems (MCSs) in many application areas is the motivation to utilize them for the autonomous take-off and landing of the quadrotor in this research. An autonomous closed-loop vision-based navigation, tracking, and control system is proposed for quadrotors to perform landing based upon Model Predictive Control (MPC) by utilizing multi-objective functions. The entire process is posed as a constrained tracking problem to minimize energy consumption and ensure smooth maneuvers. The proposed approach is fully autonomous from take-off to landing; whereas, the movements of the landing platform are pre-defined but still unknown to the quadrotor. The landing performance of the quadrotor is tested and evaluated for three different movement patterns: static, square-shaped, and circular-shaped. Through experimental results, the pose error between the quadrotor and the platform is measured and found to be less than 30 cm. Introducing a holistic vision system for quadrotor navigation, tracking, and landing on stationary/moving platforms. Proposing an energy-efficient, smooth, and stable MPC controller validated by Lyapunov analysis. Validating the adept tracking and safe landings of the quadrotor on stationary/moving platforms through three diverse experiments.Review Citation - WoS: 15Citation - Scopus: 21A freely damped oscillating fractional dynamic system modeled by fractional Euler-Lagrange equations(Sage Publications Ltd, 2018) Agila, Adel; Baleanu, Dumitru; Eid, Rajeh; Irfanoglu, BulentThe behaviors of some vibrating dynamic systems cannot be modeled precisely by means of integer representation models. Fractional representation looks like it is more accurate to model such systems. In this study, the fractional Euler-Lagrange equations model is introduced to model a fractional damped oscillating system. In this model, the fractional inertia force and the fractional damping force are proportional to the fractional derivative of the displacement. The fractional derivative orders in both forces are considered to be variable fractional orders. A numerical approximation technique is utilized to obtain the system responses. The discretization of the Coimbra fractional derivative and the finite difference technique are used to accomplish this approximation. The response of the system is verified by a comparison to a classical integer representation and is obtained based on different values of system parameters.
