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

Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2018

Öğrenci: MEHMET BAYINDIR KARASOY

Danışman: AYDAN MÜŞERREF ERKMEN

Özet:

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