Bambang Riyanto Trilaksono

Design and implementation of hardware-in-the-loop-simulation for uav using pid control method

One of fixed-wing aircraft type is the fixed-wing unmanned aircraft or fixed-wing Unmanned Aerial Vehicle (UAV). The UAV flies without a pilot in the aircraft. All aircraft movements are controlled by an embedded computer or a remote control. The whole complex UAV control system can be decomposed into several separated sections to simplify the control design process. The three-dimensional position control was simplified to one-dimensional height control and two-dimensional navigation control. The UAV motion composed of three force components and three moment components that make up the six Degrees of Freedom (6 DoF). In the modeling process, all motions of the aircraft are considered linear and have multiple inputs and outputs (MIMO). The controller used was a PID controller which is tuned using Ziegler-Nichols method. Implementation of the Hardware-in-the-Loop-Simulation (HILS) can be done after the design of control systems for UAV is completed. The design of HILS structure was done with the help of MATLAB software. The controller that has been designed previously was implemented into the Ardupilot mega hardware. The design and implementation of PID control system with Ziegler-Nichols tuning method for the longitudinal and lateral directional dimensions, which include angular rate control, attitude control, altitude control and navigation control was able to stabilize an unstable system or to improve the system response.

Hardware in-the-loop simulation for visual servoing of fixed wing UAV

An Image-based fixed wing Unmanned Aerial Vehicle (UAV) has autonomous flight control system which tracks targets to be pursued. This system is more prominent because it is based on visual sight around the aircraft to track the target. Targets will be identified as a feature in the image field captured by camera. By using the position of features in the image, a visual servoing algorithm is implemented to drive servo motors that control the control surfaces such as elevator, aileron, rudder, throttle, pan, and tilt angle on gimbal. Image processing module (Cubieboard2) and visual based autopilot control module (Pixhawk PX4) are used for the UAV on-board systems that become the controller test subject of the hardware in-the-loop simulation (HILS). Native C language program is used for simulating the control plants of UAV and camera attitudes. Whereas, FlightGear is used to visualize camera view and 3D model depend on the calculated UAV and camera attitudes. Then, visualized camera view is projected on screen that is subsequently captured by UAV on-board camera. The HILS results show the responses of the visual based controller to govern the simulated plants of UAV and camera pan-tilt gimbal.

New resampling algorithm for particle filter localization for mobile robot with 3 ultrasonic sonar sensor

This paper present a particle filter also known as Monte Carlo Localization (MCL) to solve the localization problem presented before. A new resampling mechanism is proposed. This new resampling mechanism enables the particle filter to converge quicker and more robust to kidnaping problem. This particle filter is simulated in MATLAB and also experimented physically using a simple autonomous mobile robot built with Lego Mindstorms NXT with 3 ultrasonic sonar and RWTH Mindstorms NXT Toolbox for MATLAB to connect the robot to MATLAB. The particle filter with the new resampling algorithm can perform very well in the physical experiments.

Three-loop autopilot for attitude control system on Hardware In Loop Simulation

This paper presents the design and implementation of Three-loop autopilot that functions as an attitude control system of a guided rocket. Three-loop autopilot is designed to manage the guided rocket flight path on a longitudinal plane trajectory by controlling the rocket attitude angle. Three-loop autopilot consists of three successive closed-loop systems which manipulate short period, phugoid oscillation, and other oscillation mode to have adequate damping. Control system is designed on a certain linear condition. Classical stability margin such as gain margin and phase margin is needed to handle error between the assumed model and real system. The system is also equipped with anti-windup to overcome integral windup when the actuator gets saturated. Testing of control system is done by using hardware in the loop simulation (HILS). Control system test shows that the results are good enough. With 0° initial value of pitch and angle of attack, pitch angle can be maintained at a value of 5.5° with a 0.6 seconds rise time, 0.8 peak time, 12% overshoot and zero steady state error. In addition, roll and yaw angle values can be maintained at a value of 0°. On changed command testing, the control system shows good command tracking for small angles, but the system performance decreases when angle value large enough. This is due to the saturation in the actuators and change on system parameters.

Guided Rocket Navigation design and implementation on Hardware in Loop Simulation

The main role of Rocket Navigation System is to deliver an attitude command to Flight Control System hence the rocket can be directed to a particular path or a specific target. This command is produced from Trajectory Planning algorithm. The Navigation System also performs attitude estimation by using the Extended Kalman Filter. The inputs of Navigation System are obtained from GPS, IMU, Pitot tube, Altitude meter and actuator encoder which have been modeled in SIMULINK. From the test results, the Trajectory Planning algorithm is successful enough to give an attitude command and the rocket can reach the target. Also, the Extended Kalman Filter has successfully estimated pitch angle, u-velocity, and w-velocity. Moreover, the Extended Kalman Filter has successfully filtered out the pitch rate noise from the simulated IMU sensor.

Modelling and simulation of RKX200 rocket flight dynamics

In this paper, modelling and simulation of RKX200 rocket flight dynamics are presented. The dynamics model is constructed by first-principle method based on forces and moments acting the rocket rigid body. In the development of the model, the aerodynamics coefficients are determined by using missile DATCOM software. A six Degree of Freedom (DoF) nonlinear model, as well as linear decoupled longitudinal and lateral-directional models are constructed for representing the flight dynamics of the rocket. The resulting models are numerically modelled and simulated using Simulink™ while its motion visualization is constructed using FlightGear™. Further, the dynamics model and the visualization application then are integrated and tested in Hardware In The Loop Simulation (HILS) environment.

Static output feedback control synthesis for nonlinear polynomial fuzzy systems using a sum of squares approach

This paper addresses the static output feedback control synthesis problem for nonlinear polynomial fuzzy systems using a sum of squares (SOS) approach. The open-loop nonlinear systems is represented in the polynomial fuzzy model. By considering the closed-loop system in the output feedback control scheme and the polynomial Lyapunov functions that contain quadratic Lyapunov functions as special cases, sufficient conditions for a solution to the problems of stability analysis and control design can be derived in the representation form of the SOS. It can be numerically solved via the SOSTOOLS.

The saturated quaternion control law with application for spacecraft formation flying

Rotation matrix parameterization using unit quaternion can represent attitude globally. However, it is not unique and may generates the unwinding phenomenon, besides the issue on the globally asymptotically stability guarantee. This paper proposes a piecewise-continuous scheme of quaternion-based control law that employs a saturation element such that would avoid the unwinding phenomenon. This paper also proposes a consensus control scheme based on the saturated quaternion control law that would show the property of the unwinding phenomenon avoidance and the corresponding graph only need to have a directed spanning tree.

Reinforcement learning with heuristic to solve POMDP problem in mobile robot path planning

In this paper we propose a method of presenting a special case of Value Function as a solution to POMDP in mobile robot navigation. By using this new method the Value Function complexity will be reduced and more intuitive. We also propose a new reinforcement learning method to solve the Value Function. This reinforcement learning is based on Bellman Equation augmented with A* like heuristic during update iteration. The result of this new Value Function is validated with This particle filter is simulaed in Matlab and also experimented physically using a simple autonomous mobile robot built with Lego Mindstorms NXT with 3 ultrasonic sonar and RWTH Mindstorms NXT Toolbox for Matlab to connect the robot to Matlab. This simulation and experiment also incorporate particle filter localization from previous research. The simulation and experiment show that the Value Function can be utilized very well.

Agent-based structural health monitoring system on single degree of freedom bridge: A preliminary study

Wireless Sensor Network (WSN) is small embedded devices deployed in large scale network with sensing, computing, and communicating capability. In the case of bridge structural health monitoring system, WSN has taken important role in physical measurement. This paper describes preliminary study of Agent-oriented paradigm to develop intelligent sensing in single degree of freedom bridge. The objectives of research are finding bridge condition assessment and load rating using dynamic response. Sensor node capability to compute is our consideration to develop intelligent sensing on sensor node in which signal processing with efficient resource consumption are performed. This paper is an entry point for our next research agendas: data preprocessing (in-network data processing) and intelligent agent implemented on sensor nodes.