Noordin, Aminurrashid and Mohd. Basri, Mohd. Ariffanan and Mohamed, Zaharuddin (2018) Sensor fusion for attitude estimation and PID control of quadrotor UAV. International Journal of Electrical and Electronic Engineering and Telecommunications, 7 (4). pp. 183-189. ISSN 2319-2518
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Official URL: http://dx.doi.org/10.18178/ijeetc.7.4.183-189
Abstract
This paper presents sensor fusion algorithm using nonlinear complementary filter (NCF) for attitude estimation and a proportional-integral-derivative (PID) controller for small-scale quadrotor unmanned aerial vehicle (UAV) stabilization. From inertial measurement unit (IMU) data, gyroscope as a main sensor is fused to another two sensors; accelerometer and magnetometer to correct drift error of gyroscope to obtain reliable attitude estimation. In this paper, the performance of NCF is implemented on real-time while applying PID controller for attitude stabilization of quadrotor UAV during hovering. Experimental results show the effectiveness of PID controller for quadrotor UAV stabilization during attitude control.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | nonlinear complementary filter, PID, quadrotor |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Electrical Engineering |
| ID Code: | 86529 |
| Deposited By: | Yanti Mohd Shah |
| Deposited On: | 30 Sep 2020 08:41 |
| Last Modified: | 30 Sep 2020 08:41 |
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