Quadrotor’un Yörünge Takibinin Kesir Dereceli PI Kontrolcü ile Gerçek Zamanlı Kontrolü

Bu çalışmada Quadrotor olarak adlandırılan ve dört pervaneli İnsansız Hava Aracı (İHA) olarak da bilinen mikro helikopterin yörünge kontrolü Kesir Dereceli Oransal-İntegral (KDPI) kontrolcüile gerçek zamanlı olarak gerçekleştirilmiştir. Ayrıca, KDPI kontrolcünün performansını karşılaştırmakamacı ile parametreleri iyi uyarlanmış klasik Oransal-İntegral (PI) kontrolcü ile de Quadrotor’un yö-rünge kontrolü gerçekleştirilmiştir. Deneysel çalışmada kullanılan mikro İHA GPS, sonar, kamera vedüşük maliyetli atalet sensörleriyle donatılmıştır. PI ve KDPI kontrol yöntemleri kapalı ortamda deneydüzeneği olarak belirlenen Quadrotor’a helix ve sonsuz referans rota takibi için ayrı ayrı uygulanmış veher iki kontrolcüye ait deneysel sonuçlar verilerek kontrolcü performansları kıyaslanmıştır.

Anahtar Kelimeler:

İHA, kesir dereceli PI, quadrotor, yörünge takibi

Real Time Trajectory Tracking Control of a Quadrotor Using Fractional PI Control

In this paper, real-time trajectory tracking control of a four propellers Unmanned AerialVehicle (UAV) called the Quadrotor, also known as micro helicopters is realized by using fractional-Order Proportional-Integral (FOPI) controller. A well-tuned conventional Proportional-Integral (PI)controller is also applied to the UAV for comparison with the FOPI controller. Micro UAV is equippedwith GPS, sonar, camera and low cost inertial sensors. PI and FOPI control methods are applied to aQuadrotor in the indoor for tracking helix and lazy eight reference route respectively. Results are givenfor both controllers and performances are compared.

Keywords:

Fractional order PI, quadrotor, trajectory tracking, UAV,

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