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

Abstract

In this paper, real-time trajectory tracking control of a four propellers Unmanned Aerial
Vehicle (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 equipped
with GPS, sonar, camera and low cost inertial sensors. PI and FOPI control methods are applied to a
Quadrotor in the indoor for tracking helix and lazy eight reference route respectively. Results are given
for both controllers and performances are compared.  

Keywords

• Fractional order PI,quadrotor,trajectory tracking,UAV

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

Abstract

Bu çalışmada Quadrotor olarak adlandırılan ve dört pervaneli İnsansız Hava Aracı (İHA) olarak da bilinen mikro helikopterin yörünge kontrolü Kesir Dereceli Oransal-İntegral (KDPI) kontrolcü
ile gerçek zamanlı olarak gerçekleştirilmiştir. Ayrıca, KDPI kontrolcünün performansını karşılaştırmak
amacı 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 ve
düşük maliyetli atalet sensörleriyle donatılmıştır. PI ve KDPI kontrol yöntemleri kapalı ortamda deney
düzeneği olarak belirlenen Quadrotor’a helix ve sonsuz referans rota takibi için ayrı ayrı uygulanmış ve
her iki kontrolcüye ait deneysel sonuçlar verilerek kontrolcü performansları kıyaslanmıştır.  

Keywords

• İHA,kesir dereceli PI,quadrotor,yörünge takibi

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