Gürkan Kavuran, Abdullah Ateş, Baykant Alagöz, Celaleddin Yeroğlu

Kesir dereceli model referans denetleyici ile görüntü işleme destekli nesne takip uygulaması

Bu çalışmada doğru akım servo motorun pozisyon denetimi, kesir dereceli integratörle birlikte geleneksel model referans uyarlamalı denetleyici yapısı kullanılarak incelenmiştir. Denetleyici yapısındaki iyileşme, uyarlama kuralında kesir dereceli operatörlerin kullanılmasıyla sağlanmıştır. Gerçek zamanlı çalışan sistemin referans pozisyon bilgisi, kameradan alınan değerlere göre güncellenmiştir. Sistem çıkışı, öğrenme katsayısı değiştirilerek tamsayı ve kesir dereceli uyarlama kuralına göre karşılaştırmalı olarak kıyaslanmıştır. Elde edilen sonuçlara göre kesir dereceli yaklaşımın daha iyi sonuç verdiği gözlenmiştir.

Anahtar Kelimeler:

Kesir dereceli matematik, Model referans uyarlamalı denetim, Nesne takibi, Servo motor

Image processing based object tracking application with fractional-order model reference controller

In this paper, position control application of DC servo motor is investigated by using conventional model reference adaptive control structure with fractional order integrator. Modification of the controller is achieved by fractional order integrator in adaptation rule. Object position for reference input of control system is updated in real time by the values obtained from camera of object tracking system. Results obtained for integer order integrator and fractional-order integrator for model reference adaptive control system are compared and it is observed that the fractional-order integrator can provide faster adaptation for the system.

Keywords:

Fractional order calculus, Model reference adaptive control, Object tracking, Servomotors,

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