TY  - CONF
AU  - Vidaković, Jelena
AU  - Lazarević, Mihailo
AU  - Kvrgić, Vladimir
AU  - Lutovac-Banduka, Maja
AU  - Mitrović, Stefan
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4147
AB  - The spatial disorientation trainer (SDT) is a dynamic flight simulator used to enhance ability
of pilots of modern combat aircrafts to deal with dangerous effects of spatial disorientation. This
device can be modeled and controlled as 4DoF robot manipulator. In this paper, control system
design of SDT based on a dynamic model is presented. Two control strategies are compared: 1)
computed torque method with feedforward compensation of nonlinearities and cross-coupling
effects in dynamic model; 2) single joint (decentralized) PD position controller. PD controller is
designed for the actuator model which includes inertia reflected on rotor shafts (effective inertia).
Position feedback design considers structural natural frequencies of the manipulator. Effective
inertias of SDT for commanded motions are obtained from robot inverse dynamic model which is
developed using recursive Newton-Euler equations. Simulation of position tracking for
commanded motion is performed in Matlab Simulink.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017
T1  - Control system design of spatial disorientation trainer
EP  - 10
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4147
ER  - 

@conference{
author = "Vidaković, Jelena and Lazarević, Mihailo and Kvrgić, Vladimir and Lutovac-Banduka, Maja and Mitrović, Stefan",
year = "2017",
abstract = "The spatial disorientation trainer (SDT) is a dynamic flight simulator used to enhance ability
of pilots of modern combat aircrafts to deal with dangerous effects of spatial disorientation. This
device can be modeled and controlled as 4DoF robot manipulator. In this paper, control system
design of SDT based on a dynamic model is presented. Two control strategies are compared: 1)
computed torque method with feedforward compensation of nonlinearities and cross-coupling
effects in dynamic model; 2) single joint (decentralized) PD position controller. PD controller is
designed for the actuator model which includes inertia reflected on rotor shafts (effective inertia).
Position feedback design considers structural natural frequencies of the manipulator. Effective
inertias of SDT for commanded motions are obtained from robot inverse dynamic model which is
developed using recursive Newton-Euler equations. Simulation of position tracking for
commanded motion is performed in Matlab Simulink.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017",
title = "Control system design of spatial disorientation trainer",
pages = "10-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4147"
}

Vidaković, J., Lazarević, M., Kvrgić, V., Lutovac-Banduka, M.,& Mitrović, S.. (2017). Control system design of spatial disorientation trainer. in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017
Beograd : Srpsko društvo za mehaniku., 1-10.
https://hdl.handle.net/21.15107/rcub_machinery_4147

Vidaković J, Lazarević M, Kvrgić V, Lutovac-Banduka M, Mitrović S. Control system design of spatial disorientation trainer. in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017. 2017;:1-10.
https://hdl.handle.net/21.15107/rcub_machinery_4147 .

Vidaković, Jelena, Lazarević, Mihailo, Kvrgić, Vladimir, Lutovac-Banduka, Maja, Mitrović, Stefan, "Control system design of spatial disorientation trainer" in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017 (2017):1-10,
https://hdl.handle.net/21.15107/rcub_machinery_4147 .