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DİKEY İNİŞ-KALKIŞ YAPABİLEN DÖRT ROTORLU HAVA ARACININ(QUADROTOR) UÇUŞ KONTROLÜ

FLIGHT CONTROL OF A VTOL AIR VEHICLE (QUADROTOR)

Journal Name:

  • Havacılık ve Uzay Teknolojileri Dergisi

Publication Year:

  • 2010

Key Words:

Keywords (Original Language):

Author NameUniversity of AuthorFaculty of Author
Abstract (2. Language): 
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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Abstract (Original Language): 
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.
FULL TEXT (PDF): 
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  • Turkish

REFERENCES

References: 

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