Implementation of fractional order controller for stabilized visual tracking system in real military platforms


Thesis Type: Postgraduate

Institution Of The Thesis: Orta Doğu Teknik Üniversitesi, Faculty of Engineering, Department of Electrical and Electronics Engineering, Turkey

Approval Date: 2018

Student: MEHMET BAYINDIR KARASOY

Supervisor: AYDAN MÜŞERREF ERKMEN

Abstract:

Main tasks of the defence systems are mainly built on the stabilization and target tracking features of the platforms. The servo controllers in these platforms areresponsibletoobtaindesiredperformanceoverchallengingenvironments. In this thesis, Fractional Order Controller is developed and implemented to stabilized, visual tracking real military system. Aim of the study is to improve stabilization and target tracking performances of the gimbal. The system identification procedure is applied and system model is obtained to simulate real system conditions. The proposed controllers and their realization procedures with their optimal tuning studies are discussed. The comparison tests of integer order and fractional order controllers are performed both in simulations and real system. For real system tests, stewart platform is used to simulate external disturbances and stabilization accuracy and target tracking performances are measured