Özet:

This work addresses the tracking issue for a non-inertial frame referenced quadrotor Unmanned Aerial Vehicle (UAV) which is controlled by a cascaded PID controller. Some of current applications of quadrotors, such as those used in sea search and rescue operations, will be launched from a moving vessel. That is, landing of such quadrotors will need to take into consideration non-inertial position of the vessel to be landed on. Nearly every study in this area represents dynamics of quad-rotor UAV which are based on a fixed inertial frame. The most widely used inertial frames are Geodetic Coordinate System that depends on earth’s surface and Earth-Centered Fixed Coordinate System. This work aims to analyze orientation, rotation, velocity, and position of quad-rotor that is based on a moving object. kinematics of quadrotor will consider rotation and orientation for both of none-inertial frame of reference (vessel), and a fixed inertial frame of reference (base point). Dynamics of the system will depend on initial take-off point as an inertial reference to give correct dynamical effects on body frame of quad-rotor. Most accidents take place during bad weather conditions. In that case, cascaded PID controllers should be used to control quad-copter to face such weather disturbances.

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