Year 2017, Volume 18 , Issue 3, Pages 554 - 562 2017-09-30

PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV)

Tuğrul OKTAY [1] , Metin UZUN [2] , Harun ÇELİK [3] , Mehmet KONAR [4]


In this article, preliminary and conceptual design, dynamic modeling and flight dynamics modes of an unmanned aerial vehicle which have both helicopter flight mode and fixed-wing aircraft flight mode is researched. The air vehicle (ZANKA-IV) which will be produced in Erciyes University Faculty of Aeronautics and Astronautics Drone Laboratory captures both passive and active morphing properties. Furthermore, this hybrid unmanned aerial vehicle (HUAV) will be controlled by PID based autopilot system. In this paper, as the first time, sizes of morphing apparatuses and autonomous system are determined simultaneously in order to maximize autonomous flight performance. A stochastic optimization method is applied for simultaneous design. As a result, optimum solution is obtained very fast and accurately. Moreover, as a result of this approach, autonomous control of HUAV becomes noticeably efficient.  10% improvement in autonomous performance index is achieved. Furthermore, the autopilot successfully tracks a reference trajectory with pitching angle of 30 degrees.

Hybrid UAVs, Autonomous Flight, Autonomous Performance, Maximization
Subjects Engineering
Journal Section Articles
Authors

Author: Tuğrul OKTAY

Author: Metin UZUN

Author: Harun ÇELİK

Author: Mehmet KONAR

Dates

Publication Date : September 30, 2017

Bibtex @ { aubtda322137, journal = {Anadolu University Journal of Science and Technology A - Applied Sciences and Engineering}, issn = {1302-3160}, eissn = {2146-0205}, address = {}, publisher = {Eskisehir Technical University}, year = {2017}, pages = {554 - 562}, doi = {10.18038/aubtda.322137}, title = {PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV)}, key = {cite}, author = {Oktay, Tuğrul and Uzun, Metin and Çeli̇k, Harun and Konar, Mehmet} }
APA Oktay, T , Uzun, M , Çeli̇k, H , Konar, M . (2017). PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV) . Anadolu University Journal of Science and Technology A - Applied Sciences and Engineering , 18 (3) , 554-562 . DOI: 10.18038/aubtda.322137
MLA Oktay, T , Uzun, M , Çeli̇k, H , Konar, M . "PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV)" . Anadolu University Journal of Science and Technology A - Applied Sciences and Engineering 18 (2017 ): 554-562 <https://dergipark.org.tr/en/pub/aubtda/article/322137>
Chicago Oktay, T , Uzun, M , Çeli̇k, H , Konar, M . "PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV)". Anadolu University Journal of Science and Technology A - Applied Sciences and Engineering 18 (2017 ): 554-562
RIS TY - JOUR T1 - PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV) AU - Tuğrul Oktay , Metin Uzun , Harun Çeli̇k , Mehmet Konar Y1 - 2017 PY - 2017 N1 - doi: 10.18038/aubtda.322137 DO - 10.18038/aubtda.322137 T2 - Anadolu University Journal of Science and Technology A - Applied Sciences and Engineering JF - Journal JO - JOR SP - 554 EP - 562 VL - 18 IS - 3 SN - 1302-3160-2146-0205 M3 - doi: 10.18038/aubtda.322137 UR - https://doi.org/10.18038/aubtda.322137 Y2 - 2021 ER -
EndNote %0 Anadolu Üniversitesi Bilim Ve Teknoloji Dergisi A - Uygulamalı Bilimler ve Mühendislik PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV) %A Tuğrul Oktay , Metin Uzun , Harun Çeli̇k , Mehmet Konar %T PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV) %D 2017 %J Anadolu University Journal of Science and Technology A - Applied Sciences and Engineering %P 1302-3160-2146-0205 %V 18 %N 3 %R doi: 10.18038/aubtda.322137 %U 10.18038/aubtda.322137
ISNAD Oktay, Tuğrul , Uzun, Metin , Çeli̇k, Harun , Konar, Mehmet . "PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV)". Anadolu University Journal of Science and Technology A - Applied Sciences and Engineering 18 / 3 (September 2017): 554-562 . https://doi.org/10.18038/aubtda.322137
AMA Oktay T , Uzun M , Çeli̇k H , Konar M . PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV). AUBTD-A. 2017; 18(3): 554-562.
Vancouver Oktay T , Uzun M , Çeli̇k H , Konar M . PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV). Anadolu University Journal of Science and Technology A - Applied Sciences and Engineering. 2017; 18(3): 554-562.
IEEE T. Oktay , M. Uzun , H. Çeli̇k and M. Konar , "PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV)", Anadolu University Journal of Science and Technology A - Applied Sciences and Engineering, vol. 18, no. 3, pp. 554-562, Sep. 2017, doi:10.18038/aubtda.322137