D. Hazry

A simple approach on implementing IMU sensor fusion in PID controller for stabilizing quadrotor flight control

This paper discussed about a simple approach for implementing well-known PID controller in microcontroller for quadrotor project. This controller will be used for stabilizing the quadrotor while in flight. Towards to stabilize this type of air craft, sensors must be used as the feedback for PID controller. A new method in sensor fusion and inclination angle estimation is discussed in this paper. A simple system architecture for controlling four motors also included as a reference for the flow of the programming sequence. Single axis test has been done with result to prove this method and discussed in this paper.

Altitude and horizontal motion control of quadrotor UAV in the presence of air turbulence

Quad-rotor Unmanned Aerial Vehicles (UAVs) have become prominent rotorcraft amongst the helicopter type UAVs. They have been studied immensely in the recent past years. Several issues regarding its position and altitude control have been observed in conditions such as heavy wind gusts. In these circumstances it is necessary for quadrotor to carry a robust controller that responds quick enough to reduce the risk of terrific descent and drift from its original position. This article presents improved PID control technique to hold the horizontal position and descent rate of UAV under intense turbulent environments. The parameters of PID are extracted from auto tuned PID. The proposed control design is simulated on MATLAB platform. The outcomes of the research work demonstrate that under the extreme air turbulence the proposed control design works effectively for altitude and horizontal motion controlling of quadrotor UAV.

Yaw, Pitch and Roll controller design for fixed-wing UAV under uncertainty and perturbed condition

Now a days Unmanned Aerial Vehicle (UAV) systems are frequently used in many commercial applications. This makes UAV application as one of the hottest topic among the researchers. The most critical task for the researchers working on UAV is its proper and stable flight controlling under uncertainty and perturbed condition. In fixed wing UAV system altitude and attitude angles (Yaw, Pitch, Roll) play a significant role for flight stabilization. This paper presents a control algorithm for fixed-wing UAV longitude and latitude angles (Yaw, Pitch and Roll) controlling. This control algorithm is based on Proportional Integral Derivate (PID) conjunction with Extended Kalman Filter (EKF). It is also describes that how an unstable system become stable after applying proposed control technique. The proposed control method is simulated on fixed-wing UAV mathematical model under perturbed and unperturbed conditions using MATLAB platform. The Simulation results shows that the proposed controller performed well and maintains the stability of an airplane and holds desired angle values under uncertainties and perturbed conditions.

Attitude stabilization of Quad-rotor (UAV) system using Fuzzy PID controller (an experimental test)

Generally Quad-rotor type Unmanned Aerial Vehicles are unstable in nature, so to stabilize it, attitude controller is used. This paper presents a Fuzzy Logic based PID control system (FPID) for attitude stabilization of Quad-rotor Unmanned Aerial Vehicle (UAV). The Fuzzy logic controller updates the PID controller gains efficiently in such a way that it efficiently stabilizes the attitude of quad-rotor UAV. This method enhances the capabilities of conventional PID Controller to a dynamic PID Controller. The propose FPID control technique for attitude controlling of Quad-rotor UAV was tested on developed prototype of Quad rotor UAV for experimental purpose. Experimental results proved that proposed Fuzzy Logic based PID (FPID) controller quickly stabilized Quad-rotor UAV and its response time and settling time is reasonably good in attitude stabilization control application.

NMPC-PID based control structure design for avoiding uncertainties in attitude and altitude tracking control of quad-rotor (UAV)

The extensive consideration in this research article is to utilize the advantages of two most popular control techniques which are Non-Linear Model Predictive Control (NMPC) and Proportional Integral and Derivative (PID) controller for better stabilizing of quad-rotor VAV under different noises and disturbance conditions. The idea is to satisfy the environmental and safety considerations and for that the study of noises and disturbance condition in VAV flight upon the performances of NMPC and PID respectively is being evaluated. Finally a new control method is developed by combing two techniques which can be able to handle different sort of uncertainties i.e. noises and external disturbances in quad-rotor type VAV systems. The simulation result proves that the proposed control structure technique works very well in altitude and attitude stabilization of quad-rotor under different perturbed and unperturbed conditions.

Adaptive neural controller implementation in Autonomous Mini Aircraft Quadrotor (AMAC-Q) for attitude control stabilization

This paper describes about adaptive neural controller (ANC) to stabilize an Autonomous Mini Aircraft Quadrotor (AMAC-Q) as Unmanned Aerial Vehicle (UAV) by using Model References Adaptive System (MRAS) as control scheme.

Simple GUI design for monitoring of a remotely operated quadrotor unmanned aerial vehicle (UAV)

This paper describes the process of designing a GUI (Graphical user interface) for a remotely operated quadrotor UAV. In the process of building this quadrotor project, SolidWork 2009 software was used to develop the prototype before the actual model is made. An IMU sensor is used to measure the orientation of the quadrotor which is processed by a microcontroller to indicate the current orientation of the quadrotor before being transmitted to ground station wirelessly. The data received by the PC at the ground station then is shown on the graphical user interface (GUI) developed. The data flows from the microcontroller to the PC and the function used in the LabVIEW software is also discussed in this paper.

Real-time robot-human interaction by tracking hand movement & orientation based on morphology

In this paper we present a method that allows real time tracking on a hand in 3D space and notes its orientation and position accordingly, with the goal of ultimately tying it to a robotic spherical wrist as well as the wrists 3D position. Several image processing techniques were used in conjunction with mathematical morphological filters formulae in order to understand the hands position and orientation. The proposed methods have showed great success in identifying the Nonlinear systems, variable 3D levels of hand movements and rotations correctly, which could be applied in different types of robotic manipulators, computer simulations or a number of human-computer remote handling interactions. Real time took place in system response.

Tracking and replication of hand movements by teleguided intelligent manipulator robot

In this paper, a new method is presented that allows an intelligent manipulator robotic system to track a human hand from far distance in 3D space and estimate its orientation and position in real time with the goal of ultimately using the algorithm with a robotic spherical wrist system. In this proposed algorithm, several image processing and morphology techniques are used in conjunction with various mathematical formulas to calculate the hand position and orientation. The proposed technique was tested on Remote teleguided virtual Robotic system. Experimental results show that proposed method is a robust technique in terms of the required processing time of estimation of orientation and position of hand.

Internal air flow analysis of a bladeless micro aerial vehicle hemisphere body using computational fluid dynamic

This paper explain the analysis of internal air flow velocity of a bladeless vertical takeoff and landing (VTOL) Micro Aerial Vehicle (MAV) hemisphere body. In mechanical design, before produce a prototype model, several analyses should be done to ensure the products effectiveness and efficiency. There are two types of analysis method can be done in mechanical design; mathematical modeling and computational fluid dynamic. In this analysis, I used computational fluid dynamic (CFD) by using SolidWorks Flow Simulation software. The idea came through to overcome the problem of ordinary quadrotor UAV which has larger size due to using four rotors and the propellers are exposed to environment. The bladeless MAV body is designed to protect all electronic parts, which means it can be used in rainy condition. It also has been made to increase the thrust produced by the ducted propeller compare to exposed propeller. From the analysis result, the air flow velocity at the ducted area increased to twice the inlet air...