Quadrotor Projects | Dr. Emre Yılmaz

Attitude Control Using Non-linear, Adaptive and Robust Techniques

Adaptive, non-linear and robust control techniques are explored to design an attitude controller for a quadrotor.
Specific techniques include non-linear dynamic inversion, model reference adaptive control (MRAC), MRAC with robustness modifications, and integral backstepping.
The simulation were performed using the designed attitude controllers.
Experiments were performed with a quadrotor.
Published two conference papers: [AIAA’14] (Yilmaz & Kutay, 2014), , [AIAC’13] (Yilmaz & Kutay, 2013).

Wind Tunnel Data Measurement System Design and Tests

Wind tunnel experiments were performed to measure force and moments exerted on a quadrotor platform for different flight scenarios.
Participated in the design of measurement system using data acquisition and 6-DOF load cell unit as well as in the integration of this system into the wind tunnel

References

2014

C2.AVIATION

Adaptive Robust Attitude Controller Design for a Quadrotor Platform

Emre Yilmaz and Ali T. Kutay

In AIAA Atmospheric Flight Mechanics Conference, AIAA AVIATION Forum, 2014

DOI Bib HTML

@inproceedings{yilmaz14,
  author = {Yilmaz, Emre and Kutay, Ali T.},
  title = {Adaptive Robust Attitude Controller Design for a Quadrotor Platform},
  booktitle = {AIAA Atmospheric Flight Mechanics Conference, AIAA AVIATION Forum},
  year = {2014},
  publisher = {aiaa},
  doi = {10.2514/6.2014-2671},
  url = {https://arc.aiaa.org/doi/abs/10.2514/6.2014-2671},
}

2013

C1.AIAC

The Simulation of Attitude Controller Design for a Quadrotor Model via Methods from Literature

Emre Yilmaz and Ali T. Kutay

In AIAC, 2013

Bib

@inproceedings{yilmaz13,
  author = {Yilmaz, Emre and Kutay, Ali T.},
  title = {The Simulation of Attitude Controller Design for a Quadrotor Model via Methods from Literature},
  booktitle = {AIAC},
  year = {2013},
}