Özet:

In this paper, it is aimed to multipurpose quadcopter an extensive dynamic modeling of quadrotor for many purposes and trajectory tracking and flight forward motion with the linearized model obtained. Quadrotor has different input and output and represented with state space form. The Newton Euler equation approach is used to obtain the input, outputs and state space form, and these equations are not linear. To obtain the state space form, the equations are transformed into a linearized form. The Proportional Integral Derivative (PID) control algorithm is used to control the quadrotor height, trajectory tracking and forward motion. This control method requires three constant values (Kp, Ki, Kd). The von Karman turbulence model was used to control the Quadrotor height, trajectory tracking and forward motion under disturbances. In addition, SPSA optimization method was used to optimize quadrotor values. State Space Model, control method, turbulance model and SPSA optimization were done with matlab / simulink and the results were presented. This paper is one of rare studies that source on quadrotor modeling and control.

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