Abstract
Bu calismada, sistemin lineer olmayan yapisina bagli olarak tasarlanan geri adimlamali kontrol yontemi ile dort rotorlu bir Insansiz Hava Araci (IHA) olan Quadrotor’un gercek zamanli yorunge takibi gerceklestirilmistir. Deneysel calismada kullanilan Quadrotor, donanimsal olarak (GPS, sonar, kamera, atalet sensorleri vb.) oldukca dusuk maliyetlidir. Tasarlanan geri adimlamali kontrolcu, donanimsal acidan zayif bir sistem uzerinde yuksek verimle calismis ve gelecekte tasarlanacak donanimsal acidan yuksek hassasiyette olcum yapabilen sistemler icin iyi bir kontrolcu referansi olmustur. Quadrotor’un kapali ortamda egik cember ve zigzag formunda iki ayri yorungeyi takibi ile elde edilen sonuclar incelendiginde, kontrolcunun meydana gelen hatalari istenilen duzeyde elimine ettigi ve sistemdeki sapmalari minimumda tuttugu gorulmustur
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