Designing 3-DOF Hardware-In-The-Loop Test Platform Controlling Multirotor Vehicles

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dc.contributor.authorHancer, Muhsin
dc.contributor.authorBitirgen, Rahman
dc.contributor.authorBayezit, Ismail
dc.date.accessioned2024-02-23T14:03:07Z
dc.date.available2024-02-23T14:03:07Z
dc.date.issued2018
dc.departmentNEÜen_US
dc.description3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control (PID) -- MAY 09-11, 2018 -- Ghent Univ, Ghent, BELGIUMen_US
dc.description.abstractMain idea of this paper is the development of Hardware-in-the-Loop test platform in order to flight mechanical modeling and better stabilization of multirotor vehicles via different feedback control structures, including PID controllers. First, nonlinear mathematical model of the quadrotor platform is built and validated via Matlab/Simulink based simulation environment.Then, Hardware-in-the-Loop (HIL) test scenario is developed to analyze and tune controller parameters with the help of in-house designed testbed mechanism. Next step is observing the quadrotor attitude maneuvers via embedded hardware over the gyroscopic gimballed testbed. The HIL testbed enables us validate and calibrate model and control parameters within real-time environment including inertial and mechanical sensors for multirotor systems. In this study, the particular platform is IRIS cross-type quadrotor vehicle PID based control for stable hover flight. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.en_US
dc.description.sponsorshipInt Federat Automat Control, Tech Comm Control Design 2 1,Int Federat Automat Control, Tech Comm Proc Control 6 1,Int Federat Automat Control, Tech Comm Control Educ 9 4en_US
dc.identifier.doi10.1016/j.ifacol.2018.06.058
dc.identifier.endpage124en_US
dc.identifier.issn2405-8963
dc.identifier.issue4en_US
dc.identifier.scopus2-s2.0-85048839122en_US
dc.identifier.startpage119en_US
dc.identifier.urihttps://doi.org/10.1016/j.ifacol.2018.06.058
dc.identifier.urihttps://hdl.handle.net/20.500.12452/11964
dc.identifier.volume51en_US
dc.identifier.wosWOS:000435709300022en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherElsevieren_US
dc.relation.ispartofIfac Papersonlineen_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectHardware-In-The-Loop Simulationen_US
dc.subjectModel Based Designen_US
dc.subjectFlight Mechanical Modelingen_US
dc.subjectEngine Test Platformen_US
dc.subjectPixhawk Processoren_US
dc.subjectRotary Wing Aerial Vehiclesen_US
dc.subjectMultirotor Systemsen_US
dc.subjectReal-Time Pid Controlen_US
dc.titleDesigning 3-DOF Hardware-In-The-Loop Test Platform Controlling Multirotor Vehiclesen_US
dc.typeConference Objecten_US

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