\r\nmanufactured unmanned helicopter is tried to be increased. For this

\r\npurpose, a small unmanned helicopter is manufactured in Erciyes

\r\nUniversity, Faculty of Aeronautics and Astronautics. It is called as

\r\nZANKA-Heli-I. For performance maximization, autopilot parameters

\r\nare determined via minimizing a cost function consisting of flight

\r\nperformance parameters such as settling time, rise time, overshoot

\r\nduring trajectory tracking. For this purpose, a stochastic optimization

\r\nmethod named as simultaneous perturbation stochastic approximation

\r\nis benefited. Using this approach, considerable autonomous

\r\nperformance increase (around %23) is obtained.","references":"[1] R. Austin, Unmanned aircraft systems. Wiley, 2010.\r\n[2] S. Kim, A. Budiyono, J. H. Lee, D. H. Kim, K. J. Yoon, Control system\r\ndesign and testing for a small-scale autonomous helicopter, Aircraft\r\nEngineering and Aerospace Technology, 82(6), 353-359, 2010.\r\n[3] H. Reza Dharmayanda, A. Budiyono and T. Kang, State-space\r\nidentification and implementation of H\r\n\uf0a5\r\ncontrol design for small-scale\r\nhelicopter, Aircraft Engineering and Aerospace Technology, 82(6), 340-\r\n352, 2010.\r\n[4] I. B. Tijani, R. Akmeliawati and A. Legowa, H\r\n\uf0a5\r\nrobust controller for\r\nautonomous helicopter hovering control, Aircraft Engineering and\r\nAerospace Technology, 83(6), 363-374, 2011.\r\n[5] E. Joelianto, E. M. Sumarjano, A. Budiyono, D. R. Penggalih, Aircraft\r\nEngineering and Aerospace Technology, 83(6), 363-374, 2011.\r\n[6] Chao, H., Cao, Y., and Chen, Y. Q. 2007. Autopilots for Small Fixed-\r\nWing Unmanned Aerial Vehicles: A Survey. Paper presented at IEEE\r\nInternational Conference on Mechatronics and Automation, Harbin,\r\nChina.\r\n[7] Jang, J. S., Liccardo, D. 2006. Automation of small UAVs using a low\r\ncost mems sensor and embedded computing platform.\r\n[8] C. Sultan Proportional damping approximation using the energy gain\r\nand simultaneous perturbation stochastic approximation. Mechanical\r\nSystems and Signal Processing. 24, 2210-2224, 2010.\r\n[9] T. Oktay. Constrained control of complex helicopter models. PhD\r\nDissertation, Virginia Tech, 2012.\r\n[10] T. Oktay and C. Sultan. Simultaneous helicopter and control-system\r\ndesign,\u201d Journal of Aircraft, Vol. 50, No. 3, pp. 32-47, 2013.\r\n[11] P. Sadegh and J. C. Spall, Optimal random perturbations for\r\nmultivariable stochastic approximation using a simultaneous\r\nperturbation gradient approximation\u201d, IEEE Transactions on Automatic\r\nControl, 43(10), pp. 1480-1484, 1998.\r\n[12] Y. He and M. C. Fu, Convergence of simultaneous perturbation\r\nstochastic approximation for non-differentiable optimization, IEEE\r\nTransactions on Aerospace and Electronic Systems, 48(8), 1459-1463,\r\n2003.","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 109, 2016"}