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Dergiler / International Journal of Multidisciplinary Studies and Innovative Technologies / 2026 / Cilt: 6 Sayı: 1

ANTENNA TRACKER DESIGN WITH A DISCRETE LYAPUNOV STABILITY BASED CONTROLLER FOR MINI UNMANNED AERIAL VEHICLES

Mehmet İşcan(YILDIZ TECHNICAL UNIVERSITY)0000-0003-2261-8218
Ali Ihsan Tas(YILDIZ TECHNICAL UNIVERSITY)0000-0002-4918-3587
Berkem Vural(YILDIZ TECHNICAL UNIVERSITY)0000-0002-3891-6642
Ali Burak Ozden(YILDIZ TECHNICAL UNIVERSITY)0000-0003-4685-9825
Cüneyt Yılmaz(YILDIZ TECHNICAL UNIVERSITY)0000-0002-4263-8411
Sayfa
77–85
Yayın Tarihi
2022-07-20
DOI
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Yapay Zeka Hızlı Bakış & Çıkarımlar

AI Insight
⚡ TL;DR(1 Cümlede Hızlı Çıkarım)

The controller can easily satisfy a smooth tracking operation with high accuracy.

📌 3 Maddede Bu Makale

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Amaç & Hipotez:Communication systems have recently been very important in mini unmanned aerial vehicles (UAV), which include many research subjects.
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Temel Bulgular & Veri:In the beginning, the system’s 3-dimensional solid model was obtained in SOLIDWORKSTM and its dynamical model was made in MATLAB / SimulinkTM environment.
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Sonuç & Katkı:The controller can easily satisfy a smooth tracking operation with high accuracy.
🔬Tür:Modelleme & Sayısal Simülasyon
📍Kapsam:Genişletilmiş Akademik Örneklem
⚙️Değişkenler:lyapunov stability · mini UAVs · antenna trackers

Abstract

Communication systems have recently been very important in mini unmanned aerial vehicles (UAV), which include many research subjects. Directional antennas are generally used in communication systems, and they should continuously and efficiently follow the UAVs with minimal errors. For this purpose, an “Antenna Tracker” system, which is capable of real-time autonomous orientation based on GPS data from the UAV, was designed. In the beginning, the system’s 3-dimensional solid model was obtained in SOLIDWORKSTM and its dynamical model was made in MATLAB / SimulinkTM environment. For controlling the system, a discrete-time model-based computed torque proportional controller, which is the state-of-the-art innovation in this study, was designed in two axes, and then its simulation studies were conducted on the STM32 board. The simulation studies showed that controlling the pan and tilt axes is sufficient for effective tracking, and the presented antenna tracker system is suitable for use in mobile ground control stations (GCS). By using a short sampling time for the controller, stable and precise antenna tracking is accomplished for a given reference path. When a 0.5 Hz sinusoidal reference signal input which is the maximum speed for any antenna tracker was used as a sample reference track, ±0.3- and ±0.6-degrees position error of pan and tilt angles were obtained, respectively. The controller can easily satisfy a smooth tracking operation with high accuracy.

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Bu Makaleye Atıf Yap

İşcan, M., Tas, A. I., Vural, B., Ozden, A. B., Yılmaz, C. (2022). ANTENNA TRACKER DESIGN WITH A DISCRETE LYAPUNOV STABILITY BASED CONTROLLER FOR MINI UNMANNED AERIAL VEHICLES. International Journal of Multidisciplinary Studies and Innovative Technologies, Cilt: 6 Sayı: 1, 77–85. https://ajindex.com/articles/1496980

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