Cilt 18, Sayı 3, Sayfalar 554 - 562 2017-09-30

PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV)

Tuğrul OKTAY [1] , Metin UZUN [2] , Harun ÇELİK [3] , Mehmet KONAR [4]

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In this article, preliminary and conceptual design, dynamic modeling and flight dynamics modes of an unmanned aerial vehicle which have both helicopter flight mode and fixed-wing aircraft flight mode is researched. The air vehicle (ZANKA-IV) which will be produced in Erciyes University Faculty of Aeronautics and Astronautics Drone Laboratory captures both passive and active morphing properties. Furthermore, this hybrid unmanned aerial vehicle (HUAV) will be controlled by PID based autopilot system. In this paper, as the first time, sizes of morphing apparatuses and autonomous system are determined simultaneously in order to maximize autonomous flight performance. A stochastic optimization method is applied for simultaneous design. As a result, optimum solution is obtained very fast and accurately. Moreover, as a result of this approach, autonomous control of HUAV becomes noticeably efficient.  10% improvement in autonomous performance index is achieved. Furthermore, the autopilot successfully tracks a reference trajectory with pitching angle of 30 degrees.

Hybrid UAVs,Autonomous Flight,Autonomous Performance,Maximization
Konular Mühendislik ve Temel Bilimler
Dergi Bölümü Araştırma Makalesi
Yazarlar

Yazar: Tuğrul OKTAY
E-posta: tugruloktay52@gmail.com

Yazar: Metin UZUN
E-posta: metinuzun@erciyes.edu.tr

Yazar: Harun ÇELİK
E-posta: haruncelik@erciyes.edu.tr

Yazar: Mehmet KONAR
E-posta: mehmetkonar@erciyes.edu.tr

Bibtex @ { aubtda322137, journal = {Anadolu Üniversitesi Bilim Ve Teknoloji Dergisi A - Uygulamalı Bilimler ve Mühendislik}, issn = {1302-3160}, address = {Anadolu Üniversitesi}, year = {2017}, volume = {18}, pages = {554 - 562}, doi = {10.18038/aubtda.322137}, title = {PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV)}, language = {en}, key = {cite}, author = {OKTAY, Tuğrul and UZUN, Metin and KONAR, Mehmet and ÇELİK, Harun} }
APA OKTAY, T , UZUN, M , ÇELİK, H , KONAR, M . (2017). PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV). Anadolu Üniversitesi Bilim Ve Teknoloji Dergisi A - Uygulamalı Bilimler ve Mühendislik, 18 (3), 554-562. DOI: 10.18038/aubtda.322137
MLA OKTAY, T , UZUN, M , ÇELİK, H , KONAR, M . "PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV)". Anadolu Üniversitesi Bilim Ve Teknoloji Dergisi A - Uygulamalı Bilimler ve Mühendislik 18 (2017): 554-562 <http://dergipark.gov.tr/aubtda/issue/30003/322137>
Chicago OKTAY, T , UZUN, M , ÇELİK, H , KONAR, M . "PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV)". Anadolu Üniversitesi Bilim Ve Teknoloji Dergisi A - Uygulamalı Bilimler ve Mühendislik 18 (2017): 554-562
RIS TY - JOUR T1 - PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV) AU - Tuğrul OKTAY , Metin UZUN , Harun ÇELİK , Mehmet KONAR Y1 - 2017 PY - 2017 N1 - doi: 10.18038/aubtda.322137 DO - 10.18038/aubtda.322137 T2 - Anadolu Üniversitesi Bilim Ve Teknoloji Dergisi A - Uygulamalı Bilimler ve Mühendislik JF - Journal JO - JOR SP - 554 EP - 562 VL - 18 IS - 3 SN - 1302-3160-2146-0205 M3 - doi: 10.18038/aubtda.322137 UR - http://dx.doi.org/10.18038/aubtda.322137 Y2 - 2017 ER -
EndNote %0 Anadolu Üniversitesi Bilim Ve Teknoloji Dergisi A - Uygulamalı Bilimler ve Mühendislik PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV) %A Tuğrul OKTAY , Metin UZUN , Harun ÇELİK , Mehmet KONAR %T PID BASED HIERARCHICAL AUTONOMOUS SYSTEM PERFORMANCE MAXIMIZATION OF A HYBRID UNMANNED AERIAL VEHICLE (HUAV) %D 2017 %J Anadolu Üniversitesi Bilim Ve Teknoloji Dergisi A - Uygulamalı Bilimler ve Mühendislik %P 1302-3160-2146-0205 %V 18 %N 3 %R doi: 10.18038/aubtda.322137 %U 10.18038/aubtda.322137