Real Time Trajectory Tracking Control of a Quadrotor Using Fractional PI Control

OZET: Bu calismada Quadrotor olarak adlandirilan ve dort pervaneli Insansiz Hava Araci (IHA) ola- rak da bilinen mikro helikopterin yorunge kontrolu Kesir Dereceli Oransal-Integral (KDPI) kontrolcu ile gercek zamanli olarak gerceklestirilmistir. Ayrica, KDPI kontrolcunun performansini karsilastirmak amaci ile parametreleri iyi uyarlanmis klasik Oransal-Integral (PI) kontrolcu ile de Quadrotor'un yo- runge kontrolu gerceklestirilmistir. Deneysel calismada kullanilan mikro IHA GPS, sonar, kamera ve dusuk maliyetli atalet sensorleriyle donatilmistir. PI ve KDPI kontrol yontemleri kapali ortamda deney duzenegi olarak belirlenen Quadrotor'a helix ve sonsuz referans rota takibi icin ayri ayri uygulanmis ve her iki kontrolcuye ait deneysel sonuclar verilerek kontrolcu performanslari kiyaslanmistir. Anahtar kelimeler: IHA, kesir dereceli PI, quadrotor, yorunge takibi ABSTRACT: In this paper, real-time trajectory tracking control of a four propellers Unmanned Aerial Vehicle (UAV) called the Quadrotor, also known as micro helicopters is realized by using fraction- al-Order Proportional-Integral (FOPI) controller. A well-tuned conventional Proportional-Integral (PI) controller is also applied to the UAV for comparison with the FOPI controller. Micro UAV is equipped with GPS, sonar, camera and low cost inertial sensors. PI and FOPI control methods are applied to a Quadrotor in the indoor for tracking helix and lazy eight reference route respectively. Results are given for both controllers and performances are compared.