Kaotik Parçacık Sürü Algoritması Tabanlı Quadrotor Kontrolü

İnsansız hava araçları günümüzde sivil ve askeri amaçlarla kullanılmaktadır. Bugün, quadrotor hava araçları konvansiyonel olmayan yüksek öneme sahip döner kanatlı hava araçlarına örnek olarak verilebilir. Çok rotorlu hava araçları durum uzay modeline göre tam olarak modellenemediğinden konvansiyonel hava araçlarına göre nonlineeritesi yüksektir. Bu sebeple, Kaotik Parçacık Sürü Algoritması (CPSO) bu durumun üstesinden gelmek için kullanılabilir. Bu çalışmada doğrusal olmayan IRIS+ quadrotor hava aracının sistem modeli elde edilmiştir. Daha sonra klasik kontrol PID metodu CPSO algoritması yardımıyla kararlı bir referans model ortaya çıkarmak için uygulanmıştır. Çalışma yardımıyla dayanıklı uyarlamalı kontrolcüler ilgili referans çalışma üzerine gelecekteki deneysel çalışmalarda kullanılacaktı.

Chaotic Particle Swarm Optimisation Algorithm Based Quadrotor Control

Unmanned aerial vehicles are currently used for civil and military purposes. Today, quadrotor vehicles are highly important example of non-conventional underactuated rotary-wing platforms. In addition, quadrotors include complex nonlinearities compared to conventional aerial vehicles due to internal instability. Therefore, Chaotic Particle Swarm Optimisation Algorithm is employed to overcome and regulate this issue. In this study, a nonlinear system model of the IRIS+ quadrotor is used and the classical PID control is designed using CPSO algorithm. Chaotic Particle Swarm Algorithm is used to emerge a stable reference model for robust adaptive control of the experimental testbed.

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