Real-time trajectory tracking of an unmanned aerial vehicle using a self-tuning fuzzy proportional integral derivative controller

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dc.authoridDEMIR, Batikan Erdem/0000-0001-6400-1510
dc.authoridDURAN, Fecir/0000-0001-7256-5471
dc.contributor.authorDemir, Batikan E.
dc.contributor.authorBayir, Raif
dc.contributor.authorDuran, Fecir
dc.date.accessioned2024-09-29T16:05:05Z
dc.date.available2024-09-29T16:05:05Z
dc.date.issued2016
dc.departmentKarabük Üniversitesien_US
dc.description.abstractIn the present study, a desired reference trajectory was autonomously tracked by means of a quadrotor unmanned aerial vehicle with a self-tuning fuzzy proportional integral derivative controller. A proportional integral derivative controller and a fuzzy system tuning gains from proportional integral derivative controller are applied to stabilize the quadrotor, to control the attitude and to track the trajectory. Inputs of fuzzy logical controller consist of the speed required for the distance between the current position of unmanned aerial vehicle and the defined reference point and differences between orientation angles and variance in differences. Outputs of fuzzy logical controller consist of the proportional integral derivative coefficients which produce pitch, roll, yaw and height values. The fuzzy proportional integral derivative control algorithm is real-time applied to the quadrotor in MATLAB/Simulink environment. Based on data from experimental studies, although both classical proportional integral derivative controller and self-tuning fuzzy proportional integral derivative controller have accomplished to track a defined trajectory with the aircraft, the self-tuning fuzzy proportional integral derivative controller has been able to control with less errors than the classical proportional integral derivative controller.en_US
dc.description.sponsorshipKarabuk University [KBU-BAP-13/2-DR-008]en_US
dc.description.sponsorshipThe author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This study was supported by Karabuk University within the scope of Scientific Research Projects with KBU-BAP-13/2-DR-008 code.en_US
dc.identifier.doi10.1177/1756829316675882
dc.identifier.endpage268en_US
dc.identifier.issn1756-8293
dc.identifier.issn1756-8307
dc.identifier.issue4en_US
dc.identifier.scopus2-s2.0-85009278890en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage252en_US
dc.identifier.urihttps://doi.org/10.1177/1756829316675882
dc.identifier.urihttps://hdl.handle.net/20.500.14619/6507
dc.identifier.volume8en_US
dc.identifier.wosWOS:000391047100005en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSage Publications Ltden_US
dc.relation.ispartofInternational Journal of Micro Air Vehiclesen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectQuadrotoren_US
dc.subjectproportional integral derivativeen_US
dc.subjectfuzzyen_US
dc.subjectself-tuningen_US
dc.subjecttrajectory trackingen_US
dc.titleReal-time trajectory tracking of an unmanned aerial vehicle using a self-tuning fuzzy proportional integral derivative controlleren_US
dc.typeArticleen_US

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