Bir Quadrotorun Yörünge Takibinde Doğrusal Ve Doğrusal Olmayan Kontrol Yöntemlerinin Performans Değerlendirmesi

Öz

Farklı tip kontrol yöntemlerinin uygulanması ve değerlendirilmesi için quadrotorlar uygun test sistemleridir. Yapısal basitliği ve kolay uygulanabilirliği ile doğrusal yöntemlerden PID ve LQR denetleyici quadrotorun yörünge kontrolünde kullanılmıştır. Doğrusal yöntemlerin yanı sıra, daha gürbüz kontrol yaklaşımları sunan doğrusal olmayan yöntemlerden geri beslemeli doğrusallaştırma yöntemi, kayan kipli kontrol yöntemi ve geri adımlamalı kontrol yöntemi aynı problem için ele alınmıştır. Elde edilen sonuçlar birlikte değerlendirilerek her iki tip kontrol yaklaşımının quadrotor davranışında etkisi incelenmiştir.

Anahtar Kelimeler

• quadrotor kontrolü
• yörünge izleme
• doğrusal kontrol yöntemleri

Performance Evaluation of Linear and Nonlinear Control Methods in Trajectory Tracking of a Quadrotor

Öz

Quadrotors are suitable test systems for the application and evaluation of various types of control methods. Due to its structural simplicity and ease of application, linear methods such as PID and LQR controllers are used in the trajectory tracking control of the quadrotor. In addition to linear methods, nonlinear methods are also discussed for the same problem, which provide more robust control approaches, such as feedback linearization method, sliding mode control method, and back-stepping control method. The obtained results are evaluated and the effects of the two types of control approaches on the behavior of the quadrotor are studied.

Anahtar Kelimeler

• quadrotor control
• trajectory tracking
• linear control methods
• nonlinear control methods

Kaynakça

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