Autopilot design for a quadrotor

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2014

Öğrenci: MEHMET SAMİ BÜYÜKSARIKULAK

Danışman: MEHMET KEMAL LEBLEBİCİOĞLU

Özet:

Nowadays, UAVs (Unmanned Aerial Systems) are important study areas for military and academic world. These systems can play crucial roles in some applications, especially in hazardous environments due to the fact that no human pilot will undergo danger. Quadrotor is an underactuated UAV system which has four fixed rotors and four degrees of freedom. Roll, pitch and yaw rotations and elevation/declination can be changed by differences of propeller velocity of rotors with respect to each other. Horizontal motion is depended on roll and pitch angle behaviours and can not be controlled independently. In this thesis, first aim is modelling of a quadrotor which is based on Newton-Euler equations. Different control strategies will be developed which are proportional integral (PI), linear quadratic regulator (LQR) and sliding mode controller. After that a line of sight (LOS) guidance algorithms is designed to provide the quadrotor to move autonomously using the way points along the desired path. All these procedures are first implemented on a Matlab/Simulink platform. Later on they have been applied on an autopilot board to realize the real system.