Universiti Teknologi Malaysia Institutional Repository

Robust attitude control design for a low-cost hexarotor micro aerial vehicle

Derawi, D. and Salim, N. D. and Zamzuri, H. and Abdul Rahman, M. A. and Nonami, K. (2016) Robust attitude control design for a low-cost hexarotor micro aerial vehicle. Transactions of the Institute of Measurement and Control, 38 (6). pp. 701-721. ISSN 0142-3312

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Official URL: https://www.scopus.com/inward/record.uri?eid=2-s2....

Abstract

This article proposes a new practical robust attitude state feedback controller of a low-cost hexarotor micro aerial vehicle under the effects of noise in angular velocity measurements and multiple uncertainties (called the equivalent disturbance), which consist of external time-varying wind disturbance, nonlinear dynamics, coupling and parametric uncertainties. The proposed method is designed in two simple steps. Firstly, a nominal cascade controller is designed to reduce noise in angular velocity measurements and to achieve good attitude tracking performance in nominal conditions. Then, a second-order robust compensator is integrated into the closed-loop system to reduce the effects of the equivalent disturbance. The proposed control design is a linear time-invariant controller which is easily implemented in practical applications. Compared to other advanced attitude controllers, the proposed controller incurs lower computational costs and can easily be implemented in a low-cost embedded microcontroller system. In addition, a practical computational design procedure and an intuitive online tuning method for the proposed controller are presented in this article in order to provide a complete reference to micro aerial vehicle developers. The simulation and experimental results are presented to demonstrate the robustness of the proposed controller in operation in outdoor environments, to show good steady-state and dynamic tracking performance of the closed-loop system and to prove that the tracking errors are ultimately bounded within desired limits.

Item Type:Article
Uncontrolled Keywords:Aircraft control, Angular velocity, Attitude control, Closed loop systems, Costs, Feedback, Linear control systems, Micro air vehicle (MAV), Microcontrollers, Nonlinear feedback, State feedback, Uncertainty analysis, Vehicles, Velocity measurement, Embedded microcontroller, Hexarotor, Linear time invariant controller, Measurement Noise, Micro aerial vehicle, Parametric uncertainties, State feedback controller, uncertainty, Controllers
Subjects:T Technology > T Technology (General)
Divisions:Malaysia-Japan International Institute of Technology
ID Code:71608
Deposited By: Widya Wahid
Deposited On:20 Nov 2017 08:28
Last Modified:20 Nov 2017 08:28

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