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

Abstract

ÖZET: Bu çalışmada, sistemin lineer olmayan yapısına bağlı olarak tasarlanan geri adımlamalı kontrol yöntemi ile dört rotorlu bir İnsansız Hava Aracı (İHA) olan Quadrotor'un gerçek zamanlı yörünge takibi gerçekleştirilmiştir. Deneysel çalışmada kullanılan Quadrotor, donanımsal olarak (GPS, sonar, kamera, atalet sensörleri vb.) oldukça düşük maliyetlidir. Tasarlanan geri adımlamalı kontrolcü, donanımsal açıdan zayıf bir sistem üzerinde yüksek verimle çalışmış ve gelecekte tasarlanacak donanımsal açıdan yüksek hassasiyette ölçüm yapabilen sistemler için iyi bir kontrolcü referansı olmuştur. Quadrotor'un kapalı ortamda eğik çember ve zigzag formunda iki ayrı yörüngeyi takibi ile elde edilen sonuçlar incelendiğinde, kontrolcünün meydana gelen hataları istenilen düzeyde elimine ettiği ve sistemdeki sapmaları minimumda tuttuğu görülmüştür.Anahtar sözcükler: Geri adımlamalı kontrol, İHA, quadrotor, yörünge takibi. ABSTRACT: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 the system. Quadrotor used in experiment is a low-cost system and is equipped with GPS, sonar, camera and inertial sensors. Since the designed backstepping controller is worked in a high efficiency on Quadrotor, the controller will be a good reference for the systems, have highly sensitive sensors to do more accurate measurements. When analyzing the indoor experiment results of Quadrotor for tracking oblique circle and zigzag routes, errors are eliminated in desired level and deviations are minimized by backstepping controller for a stable flight.

Balance Control of Brushless Direct Current Motor Driven Two-Rotor UAV

“…According to Newton's second law of motion, the relationship between electromagnetic moment (T e ) and motor speed (ω m ) is given in Equation (10). The relationship between motor speed and mechanical angle (θ m ) is given in Equation (11).…”

“…In the literature, UAVs are typically controlled by classical PID and 2-DOF PID controllers, which have been successfully applied in control systems recently [3,10,11]. Additionally, artificial intelligence-based controller structures are also used to control UAVs [12][13][14].…”

A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial Vehicle

“…The simulation results indicate that they obtained satisfactory performance from the proposed hybrid controller. Can and Basci [6] presented a study on a quadrotor using a nonlinear backstepping controller. The experimental results show that the proposed controller gives satisfactory performance in terms of providing a stable flight.…”