Trajectory Tracking of a Quadrotor Using Type-2 Neuro-Fuzzy Controllers

Öz

In this study, the trajectory tracking problem of a rotary wing unmanned aerial vehicle has been addressed by the use of type-2 neuro-fuzzy controllers. In order to determine the effectiveness of the developed control system, simulation and experimental studies have been performed for two different trajectories. The movement of the quadrotor in each direction has been controlled by a separate controller, and the difference between the actual and target positions for the relevant axis during the trajectory tracking along with the time derivative of this value has been fed to the controllers as the input signals. In order to better evaluate the results obtained, experimental and simulation studies for the same trajectories have been repeated with proportional-integral-derivative (PID) controllers and the responses of the controllers have been compared. Real-time experimental studies have been carried out indoors in a controlled environment with the Ar.Drone 2.0 produced by Parrot company. Especially the results recorded in the real-time experiments indicate that the proposed type-2 controllers with sliding mode control theory-based learning algorithm provide less steady-state error and more robust system response.

Anahtar Kelimeler

• Quadrotor
• type-2 neuro-fuzzy controller
• sliding mode control

Proje Numarası

AK 85 089 0000

Tip-2 Nöro-Bulanık Denetleyiciler ile Döner Kanatlı İnsansız Hava Aracının Yörünge Takibi

Öz

Bu çalışmada, tip-2 nöro-bulanık denetleyiciler kullanılarak bir döner kanatlı insansız hava aracının yörünge takibi gerçekleştirilmiştir. Geliştirilen kontrol sisteminin etkinliğini belirlemek amacıyla, oluşturulan iki farklı yörünge için benzetim ve deneysel çalışmalar yapılmıştır. Her bir eksen için farklı bir denetleyici tasarlanmış olup hava aracının yörünge takibi sırasında ilgili eksen için gerçek ve hedef konumları arasındaki fark ve bu değerin zamana göre türevi denetleyicilerin giriş sinyalleri olarak kullanılmıştır. Elde edilen sonuçları daha iyi değerlendirebilmek amacıyla aynı yörüngeler için deneysel ve benzetim çalışmaları orantılı-integral-türev (PID) denetleyici ile tekrarlanmış olup denetleyicilerin cevapları karşılaştırılmıştır. Gerçek zamanlı deneysel çalışmalar, Parrot firması tarafından üretilen Ar.Drone 2.0 ile iç mekanda kontrollü bir ortamda gerçekleştirilmiştir. Özellikle deneysel çalışmalardan elde edilen sonuçlar, tip-2 nöro-bulanık denetleyiciler için geliştirilen kayma kipli kontrol tabanlı öğrenme algoritmalarının daha az kalıcı hal hatası ve daha gürbüz sistem cevabı sağladığını göstermektedir.

Anahtar Kelimeler

• Döner kanatlı insansız hava aracı
• tip-2 nöro-bulanık denetleyici
• kayma kipli kontrol

Destekleyen Kurum

İstanbul Bilgi Üniversitesi

Proje Numarası

AK 85 089 0000

Teşekkür

Bu çalışma, İstanbul Bilgi Üniversitesi, Bilimsel Araştırma Projeleri birimi (BAP) tarafından maddi olarak desteklenmiştir.

Kaynakça

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