Trajectory Tracking Control of an Unmanned Aerial Vehicle (UAV) Using Fractional Order Sliding-Mode Control

Yıl 2018, Cilt: 7 Sayı: 1, 43 - 54, 15.04.2018

Kamil Orman , Adnan Derdiyok

Öz

The
UAVs have a nonlinear structure and a high performance controller design is
required to control such systems. Robust controllers are needed when
considering system dynamics and structural and non-structural constraints for
four-rotor quadrotor control. For this purpose, the design of the Fractional
Order Sliding Mode Controller (FOSMC) has been considered. The nonlinear system
is considered as two linear subsystems connected in cascade as inner loop
(position control) and outer loop (position control). A virtual control term is
used to connect the system to the cascade structure. A well-tuned PI controller
was applied to the UAV for the same trajectorys to compare the performance of
the designed FOSMC. The simulation results show that the FOSMC is performing
satisfactorily in terms of error elimination when compared to the PI
controller.

Anahtar Kelimeler

UAV, Quadrotor, Fractional Sliding Mode Controller

İnsansız Hava Aracının (İHA) Kesir Dereceli Kayan Kipli Kontrolcü ile Yörünge Kontrolü

Öz

İnsansız Hava Araçları (İHA) doğrusal olmayan yapıya sahiptir ve bu tip
sistemlerin kontrolü için yüksek performanslı kontrolcü tasarımı gerekmektedir.
Dört rotorlu quadrotorun kontrolü için sistem dinamikleri, yapısal ve yapısal
olmayan kısıtlar da göz önüne alındığında gürbüz kontrolörlere ihtiyaç
duyulmaktadır. Bu amaçla dört rotorlu İHA’nın yörünge kontrolü için bir Kesir
Dereceli Kayan Kipli Kontrolcü (KDKKK) tasarımı önerilmiştir. Doğrusal olmayan
sistem iç döngü (duruş kontrolü) ve dış döngü (konum kontrolü) olarak kaskad
yapıda bağlı iki doğrusal alt sistem halinde ele alınmıştır. Hava aracının
duruş ve konum kontrol yapısını kaskad olarak birleştirmek için bir ara kontrol
işareti tanımlanmıştır. Tasarlanan KDKKK’nün performansını kıyaslamak için
parametreleri iyi ayarlanmış bir PI kontrolcü aynı yörüngeler için İHA’ya
uygulanmıştır. Benzetim sonuçları, KDKKK'nün PI denetleyiciyle
karşılaştırıldığında hata giderme açısından tatmin edici performans
gösterdiğini göstermektedir.

Anahtar Kelimeler

İHA, Quadrotor, Kesir dereceli kayan kipli kontrolcü

Kaynakça

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