Browsing by Author "Karaman, Atakan"
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Item Open Access An investigation of control allocation methods for the ADMIRE simulation model(AIAA, 2023-06-08) Gulcan, Nilsu; Kurt, Huseyin Burak; Karaman, Atakan; Millidere, MuratThis paper presents a comparative study of various control allocation methods, using ADMIRE as a benchmark simulation model. The Ganged Pseudo-Inverse, Weighted Pseudo-Inverse, Cascaded Generalized-Inverse, Daisy Chain, and Linear Programming approaches are evaluated and compared against each other using open loop and closed loop analysis with Euclidean-Norm. In open-loop analysis, control allocation methods are analyzed for each approach that can produce an admissible solution and be able to attain commanded moments. Then, in closed-loop analysis, control allocation methods are compared using ADMIRE nonlinear simulation model for predefined maneuvers which are defined by multiple points in the flight envelope.Item Open Access Real-time motion planning for quadcopter using adaptive spherical expansion and sequential convex optimization(AIAA, 2023-01-19) Karaman, Atakan; Kurt, Huseyin Burak; Millidere, Murat; Alam, MushfiqulThis paper introduces the Adaptive Spherical Expansion and Sequential Convex Programming (ASE-SCP) as a real-time motion planning algorithm. ASE-SCP algorithm is an improved version of the Spherical Expansion and Sequential Convex Programming (SE-SCP) algorithm in terms of computational speed. ASE-SCP is a hybrid real-time motion planning algorithm which combines the advantages of the Adaptive Spherical Expansion, such as approaching the neighborhood of the global optimal path, and the quick convergence ability of the Sequential Convex Programming. The ASE-SCP algorithm first finds a collision-free path using the adaptive spherical expansion approach. After finding a feasible path from the start point to the target point, the feasible path is re-optimized (tuned) using sequential convex optimization to find the suboptimal path. ASE-SCP Algorithm is applied to a quadcopter model to demonstrate its applicability.