Dört Rotorlu bir İHA’nın Geri Adımlamalı Kontrolcü ile Gerçek Zamanlı Yörünge Kontrolü

Bu çalışmada, sistemin lineer olmayan yapısına bağlı olarak tasarlanan geri adımlamalı kontrolyöntemi ile dört rotorlu bir İnsansız Hava Aracı (İHA) olan Quadrotor’un gerçek zamanlı yörünge takibigerçekleştirilmiştir. Deneysel çalışmada kullanılan Quadrotor, donanımsal olarak (GPS, sonar, kamera,atalet sensörleri vb.) oldukça düşük maliyetlidir. Tasarlanan geri adımlamalı kontrolcü, donanımsalaçıdan zayıf bir sistem üzerinde yüksek verimle çalışmış ve gelecekte tasarlanacak donanımsal açıdanyüksek hassasiyette ölçüm yapabilen sistemler için iyi bir kontrolcü referansı olmuştur. Quadrotor’unkapalı ortamda eğik çember ve zigzag formunda iki ayrı yörüngeyi takibi ile elde edilen sonuçlarincelendiğinde, kontrolcünün meydana gelen hataları istenilen düzeyde elimine ettiği ve sistemdekisapmaları minimumda tuttuğu görülmüştür

Anahtar Kelimeler:

Geri adımlamalı kontrol, İHA, quadrotor, yörünge takibi

Real Time Trajectory Tracking Control of a Four Rotor UAV with Backstepping Controller

In this study, real-time trajectory tracking control of a four rotor UAV, called Quadrotor,is realized by using backstepping controller which is designed depending on the nonlinearity of thesystem. Quadrotor used in experiment is a low-cost system and is equipped with GPS, sonar, camera andinertial sensors. Since the designed backstepping controller is worked in a high effciency on Quadrotor,the controller will be a good reference for the systems, have highly sensitive sensors to do more accuratemeasurements. When analyzing the indoor experiment results of Quadrotor for tracking oblique circleand zigzag routes, errors are eliminated in desired level and deviations are minimized by backsteppingcontroller for a stable ﬂight.

Keywords:

Backstepping control, quadrotor, trajectory tracking, UAV,

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