Model Reference Adaptive Control of Load Transporting System on Unmanned Aerial Vehicle

The effective control of gimbal, Vertical Take-Off and Landing (VTOL) and Load Transporting System (LTS) in Unmanned Aerial Vehicles (UAV), which are widely used in mapping, search-and-rescue, exploration and surveillance, border security, real-time image transfer by tracking target and leaving payloads to specified targets in hazardous regions directly affect task performance. In this study, Model Reference Adaptive Control (MRAC) of LTS which has an important role to be able to leave payloads on UAV in real time with minimum error to specified targets is carried out and its effect on duty performance is investigated. The three payloads in the cubic structure are transported by LTS originally designed for real-time specified targets. DC gear motors are used in the LTS so that payloads can be left to real time specified targets. Environmental testing is conducted taking into account the limitations of the physical properties of the LTS on the autonomously moving UAV, and the impact on MRAC's mission performance is examined.