İ. Can DİKMEN, Aydemir ARISOY, HAKAN TEMELTAŞ

Dikey iniş-kalkış yapabilen dört rotorlu hava aracının (quadrotor) uçuş kontrolü

Bu çalışmada quadrotorun durumsal ve hover kontrolleri üzerinde durulmuştur. Klasik PD kontrol, ters dinamik kontrol, geri adımlamalı kontrol ve kayma kipli kontrol teknikleri doğrusal olmayan sistem için benzetim çalışmasında matematiksel modeline; deneysel çalışmada ise quadrotor platformuna uygulanmıştır. Bahsi geçen kontrol teknikleri bilgisayarlı benzetim ortamında quadrotorun durum kontrolüne; önceden belirlenen hedefler doğrultusunda uygulanmış ve sonuçları karşılaştırılmıştır.

Flight control of a VTOL air vehicle (quadrotor)

This study includes altitude stabilization, hovering control and attitude control of quadrotor. Classically PD controller derived and applied to this system. Inverse dynamic control, feedback linearization control and sliding mode control methods have used to derive as nonlinear controllers. Linear and nonlinear control techniques applied to mathematical model as simulation and applied to quadrotor platform for experimental results. Derived control methods have been performed using computer simulations and compared the results according to this study objectives.

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