Araştırma Makalesi
BibTex RIS Kaynak Göster

UYARLAMALI BULANIK MANTIK DENETLEYİCİ TABANLI İNSANSIZ HAVA ARACI (İHA)’NIN ROTA TAKİBİ VE FAYDALI YÜK TAŞIMA PERFORMANSI

Yıl 2021, Cilt: 9 Sayı: 1, 116 - 125, 30.03.2021
https://doi.org/10.21923/jesd.733266

Öz

Otonom olarak hareket eden İnsansız Hava Araçlarında (İHA) yük taşıma sistemi sivil ve askeri alanlarda sıklıkla kullanılmaktadır. Coğrafi koşulların elverişsiz olduğu operasyon bölgelerinde belirlenen konumdan alınan faydalı yükün belirli bir rota takip edilerek hedeflenen konuma minimum hata ile bırakılması büyük önem arz etmektedir. Bu tür görevlerin başarıyla gerçekleştirilebilmesi için İHA’nın belirlenen rotayı minimum hata ile takip etmesi gerekmektedir. Bu çalışmada, yük alma bırakma sistemi kullanılarak belirlenen bölgedeki farklı renkli iki özdeş faydalı yükün dört pervaneli İHA tarafından sırasıyla alınarak belirlenen konuma bir rota üzerinden minimum hata ile bırakılabilmesi için bulanık PID denetleyicisi tasarlanmaktadır. Faydalı yük alma, taşıma ve bırakma görevi esnasında elde edilen sonuçlar PID denetleyici performansı ile kıyaslamalı olarak analiz edilmektedir.

Kaynakça

  • Altan, A., Aslan, O., Hacıoğlu, R., 2018. Model Reference Adaptive Control of Load Transporting System on Unmanned Aerial Vehicle. 6th International Conference on Control Engineering and Information Technology, Oct 25-27, 2018, Istanbul, Turkey.
  • Altan, A., Aslan, O., Hacıoğlu, R., 2018. Real-Time Control based on NARX Neural Network of Hexarotor UAV with Load Transporting System for Path Tracking. 6th International Conference on Control Engineering and Information Technology, Oct 25-27, 2018, Istanbul, Turkey.
  • Altan, A., Hacıoğlu, R., 2020. Model Predictive Control of Three-Axis Gimbal System Mounted on UAV for Real-Time Target Tracking under External Disturbances. Mechanical Systems and Signal Processing, 138, 106548.
  • Gao, Y., Liu, Y. J., 2016. Adaptive Fuzzy Optimal Control using Direct Heuristic Dynamic Programming for Chaotic Discrete-Time System. Journal of Vibration and Control, 22 (2), 595-603.
  • Lee, T., 2017. Geometric Control of Quadrotor UAVs Transporting a Cable-Suspended Rigid Body. IEEE Transactions on Control Systems Technology, 26 (1), 255-264.
  • Liu, Y., Wang, Q., Hu, H., He, Y., 2018. A Novel Real-Time Moving Target Tracking and Path Planning System for a Quadrotor UAV in Unknown Unstructured Outdoor Scenes. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 49 (11), 2362-2372.
  • Pounds, P. E., Bersak, D. R., Dollar, A. M., 2012. Stability of Small-Scale UAV Helicopters and Quadrotors with Added Payload Mass under PID Control. Autonomous Robots, 33 (1-2), 129-142.
  • Qiao, J., Liu, Z., Zhang, Y., 2018. Gain Scheduling Based PID Control Approaches for Path Tracking and Fault Tolerant Control of a Quadrotor UAV. International Journal of Mechanical Engineering and Robotics Research, 7 (4), 401-408.
  • Raffo, G. V., Ortega, M. G., Rubio, F. R., 2011. Path Tracking of a UAV via an Underactuated Control Strategy. European Journal of Control, 17 (2), 194-213.
  • Rego, B. S., Raffo, G. V., 2019. Suspended Load Path Tracking Control using a Tilt-Rotor UAV based on Zonotopic State Estimation. Journal of the Franklin Institute, 356 (4), 1695-1729.
  • Ryll, M., Bülthoff, H. H., Giordano, P. R., 2014. A Novel Overactuated Quadrotor Unmanned Aerial Vehicle: Modeling, Control, and Experimental Validation. IEEE Transactions on Control Systems Technology, 23 (2), 540-556.
  • Shirani, B., Najafi, M., Izadi, I., 2019. Cooperative Load Transportation using Multiple UAVs. Aerospace Science and Technology, 84, 158-169.
  • Tavakol, F., Binazadeh, T., 2017. Robust Control Design for Path Tracking of Non-Affine UAV. Systems Science and Control Engineering, 5 (1), 474-480.
  • Villa, D. K., Brandão, A. S., Sarcinelli-Filho, M., 2019. A Survey on Load Transportation Using Multirotor UAVs. Journal of Intelligent and Robotic Systems, 1-30.
  • Xian, B., Wang, S., Yang, S., 2019. Nonlinear Adaptive Control for an Unmanned Aerial Payload Transportation System: Theory and Experimental Validation. Nonlinear Dynamics, 98 (3), 1745-1760.

ROUTE TRACKING AND PAYLOAD TRANSPORTATION PERFORMANCE OF ADAPTIVE FUZZY LOGIC CONTROLLER BASED UNMANNED AERIAL VEHICLE (UAV)

Yıl 2021, Cilt: 9 Sayı: 1, 116 - 125, 30.03.2021
https://doi.org/10.21923/jesd.733266

Öz

In autonomous unmanned aerial vehicles (UAV), the payload transporting system is frequently used in civil and military areas. It is very important that the payload taken from the predetermined location in the operational regions where the geographical conditions are unfavorable is left to the target location with minimum error by tracking a certain route. In order to perform such tasks successfully, the UAV must follow the specified route with minimum error. In this study, two identical payloads of different color in the predetermined region are taken by the UAV respectively, and transported to the target location with minimum error by tracking the defined route. A fuzzy PID controller is designed to perform this task. The results obtained during the payload hold, transport and release task are analyzed in comparison with PID controller performance.

Kaynakça

  • Altan, A., Aslan, O., Hacıoğlu, R., 2018. Model Reference Adaptive Control of Load Transporting System on Unmanned Aerial Vehicle. 6th International Conference on Control Engineering and Information Technology, Oct 25-27, 2018, Istanbul, Turkey.
  • Altan, A., Aslan, O., Hacıoğlu, R., 2018. Real-Time Control based on NARX Neural Network of Hexarotor UAV with Load Transporting System for Path Tracking. 6th International Conference on Control Engineering and Information Technology, Oct 25-27, 2018, Istanbul, Turkey.
  • Altan, A., Hacıoğlu, R., 2020. Model Predictive Control of Three-Axis Gimbal System Mounted on UAV for Real-Time Target Tracking under External Disturbances. Mechanical Systems and Signal Processing, 138, 106548.
  • Gao, Y., Liu, Y. J., 2016. Adaptive Fuzzy Optimal Control using Direct Heuristic Dynamic Programming for Chaotic Discrete-Time System. Journal of Vibration and Control, 22 (2), 595-603.
  • Lee, T., 2017. Geometric Control of Quadrotor UAVs Transporting a Cable-Suspended Rigid Body. IEEE Transactions on Control Systems Technology, 26 (1), 255-264.
  • Liu, Y., Wang, Q., Hu, H., He, Y., 2018. A Novel Real-Time Moving Target Tracking and Path Planning System for a Quadrotor UAV in Unknown Unstructured Outdoor Scenes. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 49 (11), 2362-2372.
  • Pounds, P. E., Bersak, D. R., Dollar, A. M., 2012. Stability of Small-Scale UAV Helicopters and Quadrotors with Added Payload Mass under PID Control. Autonomous Robots, 33 (1-2), 129-142.
  • Qiao, J., Liu, Z., Zhang, Y., 2018. Gain Scheduling Based PID Control Approaches for Path Tracking and Fault Tolerant Control of a Quadrotor UAV. International Journal of Mechanical Engineering and Robotics Research, 7 (4), 401-408.
  • Raffo, G. V., Ortega, M. G., Rubio, F. R., 2011. Path Tracking of a UAV via an Underactuated Control Strategy. European Journal of Control, 17 (2), 194-213.
  • Rego, B. S., Raffo, G. V., 2019. Suspended Load Path Tracking Control using a Tilt-Rotor UAV based on Zonotopic State Estimation. Journal of the Franklin Institute, 356 (4), 1695-1729.
  • Ryll, M., Bülthoff, H. H., Giordano, P. R., 2014. A Novel Overactuated Quadrotor Unmanned Aerial Vehicle: Modeling, Control, and Experimental Validation. IEEE Transactions on Control Systems Technology, 23 (2), 540-556.
  • Shirani, B., Najafi, M., Izadi, I., 2019. Cooperative Load Transportation using Multiple UAVs. Aerospace Science and Technology, 84, 158-169.
  • Tavakol, F., Binazadeh, T., 2017. Robust Control Design for Path Tracking of Non-Affine UAV. Systems Science and Control Engineering, 5 (1), 474-480.
  • Villa, D. K., Brandão, A. S., Sarcinelli-Filho, M., 2019. A Survey on Load Transportation Using Multirotor UAVs. Journal of Intelligent and Robotic Systems, 1-30.
  • Xian, B., Wang, S., Yang, S., 2019. Nonlinear Adaptive Control for an Unmanned Aerial Payload Transportation System: Theory and Experimental Validation. Nonlinear Dynamics, 98 (3), 1745-1760.
Toplam 15 adet kaynakça vardır.

Ayrıntılar

Birincil Dil Türkçe
Konular Elektrik Mühendisliği
Bölüm Araştırma Makaleleri \ Research Articles
Yazarlar

Egemen Belge 0000-0001-5852-1085

Aytaç Altan 0000-0001-7923-4528

Rıfat Hacıoğlu 0000-0002-2480-0729

Yayımlanma Tarihi 30 Mart 2021
Gönderilme Tarihi 6 Mayıs 2020
Kabul Tarihi 14 Ocak 2021
Yayımlandığı Sayı Yıl 2021 Cilt: 9 Sayı: 1

Kaynak Göster

APA Belge, E., Altan, A., & Hacıoğlu, R. (2021). UYARLAMALI BULANIK MANTIK DENETLEYİCİ TABANLI İNSANSIZ HAVA ARACI (İHA)’NIN ROTA TAKİBİ VE FAYDALI YÜK TAŞIMA PERFORMANSI. Mühendislik Bilimleri Ve Tasarım Dergisi, 9(1), 116-125. https://doi.org/10.21923/jesd.733266