INVESTIGATION OF ROUTE TRACKING PERFORMANCE WITH ADAPTIVE PID CONTROLLER IN QUADROTOR

Abstract

Depending on the intended use, the Unmanned Aerial Vehicle (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 proportionalintegral-derivative (PID) controller. Firstly, system modeling and mathematical equations has been developed. Secondly, the simulation environment has been created through the MATLAB program. Route tracking in this simulation environment has been performed on three different geometries, rectangle, lemniscate, spiral route tracking and the rate of the quadrotor on these routes and the amount of error has been determined. The comparison of these geometric shapes revealed the necessity of adaptive PID approaches in cases of sudden maneuvers.