Sembolik Ayrık Kontrol Sentezi ve Optimal PID Kontrolörün Dört Rotorlu İHA'nın Durum Kontrolündeki Performanslarının Karşılaştırılması

Öz

İnsansız hava araçları (İHA) son yıllarda birçok mühendislik uygulamasında kullanılmaktadır. Dört rotorlu tipi İHA'lar basit yapıları nedeniyle en çok tercih edilen hava platformlarından biridir. Dört rotorlular 6 serbestlik dereceli hareket kabiliyetine sahiptir. Dört rotorlu kontrolü birçok araştırmacı tarafından üzerinde çalışılan önemli ve zor bir problem olarak bilinmektedir. Bu çalışmada, dört rotorlu İHA'nın durum kontrolü, sembolik sınırlı optimal ayrık denetleyici sentezleme (S-DCS) yöntemi ve optimal Oransal İntegral Türev (PID) denetleyici kullanılarak gerçekleştirilmiştir. PID kontrolör parametreleri, son yıllarda geliştirilen meta-sezgisel bir algoritma olan Balina optimizasyon algoritması (BOA) ve Genetik Algoritmalar (GA) kullanılarak tahmin edilmiştir. S-DCS, istenen sistem çıktısını elde etmek için tanımlanmış bir maliyet fonksiyonunu en aza indirmeyi amaçlayan yeni bir yöntemdir. Geliştirilen kontrolörlerin dört rotorlunun dinamik modelinin durum kontrolündeki başarısı karşılaştırılmış ve sonuçlar tartışılmıştır.

Anahtar Kelimeler

• Dört Rotorlu İHA
• Sembolik sınırlı optimal ayrık kontrol
• PID denetleyicisi
• Balina optimizasyon algoritması
• Genetik algoritmalar

Comparison of The Performances of Symbolic Discrete Control Synthesis and Optimal PID Controller in Attitude Control of Quadcopter UAV

Öz

Unmanned aerial vehicles (UAVs) have been utilized in numerous engineering applications in recent years. Quadcopter-type UAVs are among the most preferred air platforms due to their simple structure. Quadcopters have 6 degrees of freedom movement capability. Quadcopter control is known as a significant and challenging problem studied by many researchers. In this study, attitude control of the quadcopter UAV was realized using the symbolic discrete controller synthesis (S-DCS) method and an optimal Proportional Integral Derivative (PID) controller. PID controller parameters were estimated using the Whale Optimization Algorithm (WOA) and Genetic Algorithms (GA). S-DCS is a new method that aims to minimize a defined cost function to obtain a desired system output. The success of the developed controllers in attitude control of the quadcopter dynamic model was compared, and the results were discussed.

Anahtar Kelimeler

• Quadcopter UAV
• Symbolic limited optimal discrete control
• PID controller
• Whale optimization algorithm
• Genetic algorithms

Kaynakça

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