Yazar "Ahmadi, Karim" seçeneğine göre listele

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    Fault Tolerant Control of a Quadrotor Based on Incremental Nonlinear Dynamic Inversion
    (Selçuk Üniversitesi Sivil Havacılık Yüksekokulu, 2022) Ahmadi, Karim; Asadi, Davood; Nabavi-Chashmi, Seyed-Yaser
    The multirotor unmanned aerial vehicles (UAVs) have rapidly attracted interest of the researchers since they play a unique role in a variety of areas including the military, agriculture, rescue, and mining. Actuator fault or failure is inevitable during multi-rotor’s operations, which can endanger humans on the ground in addition to costly damage to the system itself. Therefore, this paper introduces a nonlinear controller algorithm for fault-tolerant control of a quadcopter with partial loss of actuator effectiveness. The introduced controller includes a cascade structure of the fast inner-loop dynamics and slow outer-loop dynamics. In the inner-loop part of the controller, an incremental nonlinear dynamic inversion controller is applied and a modified PID control algorithm is used in the outer-loop of the controller. Simulation results for different fault scenarios demonstrate that the proposed fault-tolerant controller approach can quickly adapt itself to the abrupt change due to the motor faults and tracks the desired inputs satisfactorily.
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    Safe Land System Architecture Design of Multi-rotors Considering Engine Failure
    (Selçuk Üniversitesi Sivil Havacılık Yüksekokulu, 2022) Nabavi-Chashmi, Seyed-Yaser; Asadi, Davood; Ahmadi, Karim
    There is growing interest to use drones for application like delivery services, air taxi, surveillance, and inspection to reduce operational time and cost and increase the performance and functionalities. However, there are some risks related to using this technology one of them is the hazard to the humans and assets in the case of an emergency scenario like motor failure. The current technologies suggest to land as soon as possible in such these scenarios, however finding and selecting a suitable landing area considering the capabilities of the faulty drone and controlling the drone towards the selected point is a problem which requires provisions during the design process of the drone. The situations get more complex considering that the vehicle should be able to adopt itself by its time varying environment. In this paper the system approach is used to break the safety requirements to functional and physical requirements and based on these requirement analyses, the functional and physical architectures of the drone are designed. The proposed design suggests that the drones aggregate their perception about the environment to maximize the safety of people and assets through a special databank called potential landmark databank.