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Yayın A cooperative neural network control structure and its application for systems having dead-zone nonlinearities(Springer International Publishing Ag, 2022-03) Dinçmen, ErkinAn adaptive control structure utilizing two feed-forward neural networks (NN) is proposed to deal with systems having unknown nonlinearities. One of the networks is trained to mimic the nonlinear system dynamics. Its training will be repeated with periods in order to keep it an updated valid model of the system all the times since the parameters and/or nonlinearities of the system may change during time. The other network, which is the Controller NN, adapts itself continuously by collaborating with the Model NN. The stability-convergence analysis of both networks is performed via Lyapunov method. An example system is chosen to show the applicability of the control algorithm. This example system is created by combining a linear dynamics model with a dead-zone function to represent a nonlinear system to be controlled. It should be noted that the proposed control structure can be used in any nonlinear system without knowing the system dynamics. The only information required by Model NN is the training set consisting input-output data pairs of the system. The Model NN is trained offline with this training set, and afterward the Controller NN adapts its weights online continuously during the control task with the help of Model NN. The performances of PD and PID controllers are also given for comparison purposes.Yayın Modelling and simulation studies on adaptive controller for alt-azimuth telescopes despite unknown wind disturbance and mass(SAGE Publications, 2020-09-15) Keskin, Onur; Ünal, Ali Cem; Kararsız, Gökhan; Yılmaz, Tuğrul; Yeşilyaprak, CahitNumerous ground-based observatories are using small sized ground telescopes for scientific research purposes. The telescopes that are available on the market have three main problems. These issues can be listed as: positioning repeatability, tuning requirement according to different wind speeds for different seasons, and the mass changing via different scientific equipments added to the telescope. This study is aimed at resolving these issues for ground based small alt-azimuth telescopes. Establishing of a set and forget system is performed by designing an adaptive controller. Motor dynamics are taken into consideration for a realistic mathematical model. The Wind-Gust model that consists of a sum of sinusoidal disturbances with unknown phase, amplitude and frequency is used for the wind model. The purposed controller cancels the disturbance effects on the plant while operational positioning and also the makes the plant insensitive to mass changes. The Lyapunov approach is utilised when proving the asymptotic stability. The proposed controller’s success is illustrated with thorough numerical evaluation.
