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

Year 2017, Volume: 18 Issue: 3, 554 - 562, 30.09.2017
https://doi.org/10.18038/aubtda.322137

Abstract

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.

Year 2017, Volume: 18 Issue: 3, 554 - 562, 30.09.2017
https://doi.org/10.18038/aubtda.322137

Abstract

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Details

Subjects Engineering
Journal Section Articles
Authors

Tuğrul Oktay

Metin Uzun This is me

Harun Çelik

Mehmet Konar This is me

Publication Date September 30, 2017
Published in Issue Year 2017 Volume: 18 Issue: 3

Cite

APA Oktay, T., Uzun, M., Çelik, 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. https://doi.org/10.18038/aubtda.322137
AMA Oktay T, Uzun M, Çelik H, Konar M. PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV). AUJST-A. September 2017;18(3):554-562. doi:10.18038/aubtda.322137
Chicago Oktay, Tuğrul, Metin Uzun, Harun Çelik, and Mehmet 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 18, no. 3 (September 2017): 554-62. https://doi.org/10.18038/aubtda.322137.
EndNote Oktay T, Uzun M, Çelik H, Konar M (September 1, 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.
IEEE T. Oktay, M. Uzun, H. Çelik, and M. Konar, “PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV)”, AUJST-A, vol. 18, no. 3, pp. 554–562, 2017, doi: 10.18038/aubtda.322137.
ISNAD Oktay, Tuğrul et al. “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.
JAMA Oktay T, Uzun M, Çelik H, Konar M. PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV). AUJST-A. 2017;18:554–562.
MLA Oktay, Tuğrul et al. “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, 2017, pp. 554-62, doi:10.18038/aubtda.322137.
Vancouver Oktay T, Uzun M, Çelik H, Konar M. PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV). AUJST-A. 2017;18(3):554-62.