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

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 effciency 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.  

Keywords

• Backstepping control,quadrotor,trajectory tracking,UAV

Dört Rotorlu bir İHA’nın Geri Adımlamalı Kontrolcü ile Gerçek Zamanlı Yörünge Kontrolü

Abstract

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  

Keywords

• Geri adımlamalı kontrol,İHA,quadrotor,yörünge takibi

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