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https://hdl.handle.net/11499/56876
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DC Field | Value | Language |
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dc.contributor.author | Dilmen, E. | - |
dc.date.accessioned | 2024-03-23T13:10:02Z | - |
dc.date.available | 2024-03-23T13:10:02Z | - |
dc.date.issued | 2023 | - |
dc.identifier.isbn | 9781713872344 | - |
dc.identifier.issn | 2405-8963 | - |
dc.identifier.uri | https://doi.org/10.1016/j.ifacol.2023.10.1439 | - |
dc.identifier.uri | https://hdl.handle.net/11499/56876 | - |
dc.description | Azbil Corporation;et al.;Fujita Corporation;Hitachi, Ltd.;Kumagai Gumi Co., Ltd.;The Society of Instrument and Control Engineers (SICE) | en_US |
dc.description | 22nd IFAC World Congress -- 9 July 2023 through 14 July 2023 -- 195861 | en_US |
dc.description.abstract | This paper proposes the approach of employing state space least squares support vector machine (SS LS-SVM) as a disturbance observer in the sliding mode control of a quadrotor. SS LS-SVM, which was recently introduced by the authors, is adopted for the disturbance estimation task in this study. A quadrotor type unmanned aerial vehicle is considered as the system of interest to apply and assess the performance of SS LS-SVM as a disturbance observer. Quadrotor continuous time mathematical model is taken into account in a standard integrator based on Euler discritization. Both parametric uncertainties and external disturbances are lumped in a disturbance term and added to the nominal model. That term is approximated by SS LS-SVM in an output error prediction context by minimizing the state estimation error via gradient descent as the training method. The proposed disturbance observer works in collaboration with a standard nonlinear observer. It is only necessary for estimating the system states using the measured system output while SS LS-SVM performs the estimation of disturbance. SS LS-SVM enables placement of a native LS-SVM directly in a state equation. Simulation results indicates the significant performance of closed loop disturbance estimation by the SS LS-SVM disturbance observer and based on that, robustness of the employed control method is empowered. Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/) | en_US |
dc.description.sponsorship | Bilimsel Araştırma Projeleri Birimi, İstanbul Teknik Üniversitesi, BAP | en_US |
dc.language.iso | en | en_US |
dc.publisher | Elsevier B.V. | en_US |
dc.relation.ispartof | IFAC-PapersOnLine | en_US |
dc.rights | info:eu-repo/semantics/closedAccess | en_US |
dc.subject | disturbance observer | en_US |
dc.subject | quadrotor UAV | en_US |
dc.subject | sliding mode control | en_US |
dc.subject | State space LS-SVM | en_US |
dc.title | State Space LS-SVM as a Disturbance Observer in Sliding Mode Control of a Quadrotor UAV | en_US |
dc.type | Conference Object | en_US |
dc.identifier.volume | 56 | en_US |
dc.identifier.issue | 2 | en_US |
dc.identifier.startpage | 3086 | en_US |
dc.identifier.endpage | 3091 | en_US |
dc.department | Pamukkale University | en_US |
dc.identifier.doi | 10.1016/j.ifacol.2023.10.1439 | - |
dc.relation.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
dc.authorscopusid | 35408918200 | - |
dc.identifier.scopus | 2-s2.0-85184959002 | en_US |
dc.identifier.wos | WOS:001196709200002 | en_US |
dc.institutionauthor | Dilmen, E. | - |
item.openairetype | Conference Object | - |
item.grantfulltext | none | - |
item.cerifentitytype | Publications | - |
item.fulltext | No Fulltext | - |
item.languageiso639-1 | en | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
crisitem.author.dept | 20.04. Mechatronics Engineering | - |
Appears in Collections: | Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection Teknoloji Fakültesi Koleksiyonu WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
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