INVESTIGATION OF ROUTE TRACKING PERFORMANCE WITH ADAPTIVE PID CONTROLLER IN QUADROTOR

Authors : Ayşegül SUNAY, Aytaç ALTAN, Egemen BELGE, Rifat HACIOĞLU

Pages : 160-172

Doi:10.36222/ejt.652828

View : 20 | Download : 6

Publication Date : 2020-06-01

Article Type : Research Paper

Abstract :Depending on the intended use, the UAV must either be able to calculate the route itself to follow or be loyal to the predetermined route. In addition, in some cases, it is of paramount importance to follow the route, reduce the cost and follow the route in the most accurate way, especially under difficult conditions. The aim of this study is to investigate the system modeling of quadrotor to design the position and route following control algorithms of the system which is based on this modeling and to simulate the mentioned algorithms with adaptive PID controller. Firstly, system modeling and mathematical equations were developed. Secondly, the simulation environment was created through the MATLAB program. Route tracking in this simulation environment was performed on three different geometries, rectangle,infiniti, spiral route tracking and the rate of the quadrotor on these routes and the amount of error were determined. The comparison of these geometric shapes revealed the necessity of adaptive PID approaches in cases of sudden maneuvers.
Keywords : Quadrotor, UAV modeling, Route Tracking, Adaptive PID Controller