Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Open Access Guideline
Open Access Guideline
Postgraduate Thesis Guideline
Postgraduate Thesis Guideline
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Landing autopilot design for an unmanned aerial vehicle /
Download
index.pdf
Date
2014
Author
Ak, Ayşe İlden
Metadata
Show full item record
Item Usage Stats
496
views
246
downloads
Cite This
In this thesis, studies for the development of a landing autopilot for the UAV (Unmanned Aerial Vehicle), Pioneer RQ2 are presented. Firstly, 6 DOF (degree of freedom) nonlinear model of Pioneer is implemented in Matlab-Simulink based on FDC (Flight Dynamics and Control) Toolbox. Then, in accordance with steady-state wings level flight condition, trim points are found for different airspeed values, constant height and zero flight path angle. The nonlinear model of Pioneer is linearized at these trim points using Matlab-Linearization Toolbox. Linear systems responses are verified to ensure that aircraft is well trimmed. According to the specifications and predefined flying qualities, stability of the linear models are searched. For all linear models of Pioneer, in order to control altitude, velocity and direction of the aircraft, controllers are designed with classical (PID) and modern control methods (LQT). These controllers are applied to the nonlinear system by using gain scheduling method with necessary modifications. Optimal landing paths are generated inside of the landing cone. Then cross track guidance and lateral track error guidance methods are added to the system to manipulate the lateral position of the aircraft. Controllers and guidance methods are tested in the existence of wind.
Subject Keywords
Drone aircraft
,
Guidance systems (Flight).
,
Automatic pilot (Airplanes).
,
Vehicles, Remotely piloted.
URI
http://etd.lib.metu.edu.tr/upload/12618265/index.pdf
https://hdl.handle.net/11511/24268
Collections
Graduate School of Natural and Applied Sciences, Thesis
Suggestions
OpenMETU
Core
Development of an autopilot for automatic landing of an unmanned aerial vehicle
Arıbal, Seçkin; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2011)
This thesis presents the design of an autopilot and guidance system for an unmanned aerial vehicle. Classical (PID) and modern control (LQT, Sliding Mode) methods for autonomous navigation and landing in adverse weather conditions are implemented. Two different guidance systems are designed in order to navigate through waypoints during normal and/or emergency flight. The nonlinear Pioneer UAV model is used in controller development and simulations. Aircraft is linearized at different trim points and total a...
Landing autopilot design for an UAV
Hanköylü, Merve; Çiloğlu, Tolga; Department of Electrical and Electronics Engineering (2011)
In this thesis, a landing autopilot for an UAV (IAI Pioneer RQ-2) is designed based on a nonlinear MATLAB model implemented with MATLAB/Simulink. In order to control the movement of the UAV at lateral and longitudinal axes, a speed, an altitude, a heading angle (direction) and a yaw rate controllers are designed. Controller design procedure is started with determination of different trim points of the aircraft. Next, the corresponding initial states and initial inputs are obtained. The model is linearized a...
Vision-aided landing for fixed wing unmanned aerial vehicle
Esin, Engin; Kutay, Ali Türker; Department of Aerospace Engineering (2016)
The aim of this thesis is to design an autoland system for fixed wing unmanned aerial vehicle (UAV) to make auto landing by using position information calculated by image processing algorithms. With this ability, even if GPS is not available to be used, UAV still could make a safe automatic landing. Landing autopilot is aimed to keep UAV on a straight line with a constant flight path angle. Therefore, landing autopilot and computer vision methods are studied within the scope of this thesis. Also, to test de...
Real time unmanned air vehicle routing
Karabay, Nail; Köksalan, Murat; Tezcaner Öztürk, Diclehan; Department of Industrial Engineering (2018)
In this thesis, we study real-time routing of an unmanned air vehicle (UAV) in a twodimensional dynamic environment. The UAV starts from a base point, visits all targets and returns to the base point, while all targets change their locations during the mission period. We find the best route for the route planner (RP) considering two objectives; minimization of distance and minimization of radar detection threat. We develop a real-time algorithm to find the UAV’s most preferred route for a RP who has an unde...
Mission planning for unmanned aerial vehicle (UAV) teams
Yılgın, Serdar; Polat, Faruk; Department of Computer Engineering (2014)
In recent years, use of Unmanned Aerial Vehicle (UAV) especially for reconnaissance and combat missions has become very popular in worldwide. There is no onboard human operator exists for UAVs and they are generally controlled by remote human operators. Depending on the operational environment; sometimes it becomes nearly impossible to provide optimal or an acceptable UAV – target assignment and scheduling, satisfying the constraints required to accomplish the mission, for the operators in control center. I...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
A. İ. Ak, “Landing autopilot design for an unmanned aerial vehicle /,” M.S. - Master of Science, Middle East Technical University, 2014.
