Development of autostabilization technique for a quadrotor system /
Quadrotor has emerged as a popular testbed for Unmanned Aerial Vehicle (UAV) research due to its simplicity in construction and maintenance, and its vertical takeoff, landing and hovering capabilities. It is a flying rotorcraft that has four liftgenerating propellers; two of the propellers rotate cl...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English |
| Published: |
Kuala Lumpur :
Kulliyyah of Engineering,International Islamic University Malaysia,
2012
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| Subjects: | |
| Online Access: | Click here to view 1st 24 pages of the thesis. Members can view fulltext at the specified PCs in the library. |
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| LEADER | 041580000a22003610004500 | ||
|---|---|---|---|
| 008 | 121001t2012 my a f m 000 0 eng d | ||
| 040 | |a UIAM |b eng |e rda | ||
| 041 | |a eng | ||
| 043 | |a a-my--- | ||
| 100 | 0 | |a Norafizah Abas, |e author | |
| 245 | 1 | 0 | |a Development of autostabilization technique for a quadrotor system / |c by Norafizah Abas |
| 264 | 1 | |a Kuala Lumpur : |b Kulliyyah of Engineering,International Islamic University Malaysia, |c 2012 | |
| 300 | |a xv, 152 leaves : |b illustrations ; |c 30cm. | ||
| 336 | |2 rdacontent |a text | ||
| 337 | |2 rdamedia |a unmediated | ||
| 337 | |2 rdamedia |a computer | ||
| 338 | |2 rdacarrier |a volume | ||
| 338 | |2 rdacarrier |a computer disc | ||
| 500 | |a Abstracts in English and Arabic. | ||
| 500 | |a " A dissertation submitted in fulfilment of the requirement for the degree of Master of Science (Mechatronics Engineering)."--On t.p. | ||
| 502 | |a Thesis (MSMCT)--International Islamic University Malaysia, 2012. | ||
| 504 | |a Includes bibliographical references (leaves 99-104). | ||
| 520 | |a Quadrotor has emerged as a popular testbed for Unmanned Aerial Vehicle (UAV) research due to its simplicity in construction and maintenance, and its vertical takeoff, landing and hovering capabilities. It is a flying rotorcraft that has four liftgenerating propellers; two of the propellers rotate clockwise and the other two rotate counter-clockwise. This dissertation presents system identification and control for autotabilization of a quadrotor system. The auto stabilization of quadrotor employs an autopilot, which is based on pre-programmed flight missions (i.e take-off, hover and landing). The structure of quadrotor is modified from a commercially available quadrotor and its onboard electronic components consist of a 6 DOF Inertial Measurement Unit (IMU), an ultrasonic sensor and a microcontroller. Offline system identification techniques are conducted by using extended and unscented Kalman filters (EKF and UKF, respectively) to obtain a more accurate dynamic model. Both filters have known to be excellent system identification techniques, which iteratively estimate the state vectors and parameters of nonlinear dynamical systems. In this study, although EKF gives quality results, UKF is proven as better algorithm. The errors of estimation computed for UKF are smaller cqmpared to errors computed by EKF. A quadrotor is a highly nonlinear and has to be stabilized by a suitable control system. The control strategy adopted includes feedback linearization coupled with Proportional-Derivative (PD) controller for the translational subsystem and backstepping based Proportional-Integral-Derivative (PID) controller for the rotational subsystem. It is developed in MATLAB/Simulink platform and is validated via realtime implementation. Both controllers give satisfactory simulation results, where acceptable peak of overshoot and small steady state errors are achieved. For the translational subsystem, the rise time is less than 3s and the settling time is less than Ss. Meanwhile, for the rotational subsystem, the rise time is less than 2s and settling time is less than 3s. Experimentally, the throttle is controlled in manual mode while attitude angles are stabilized automatically. The simulation and experimental results show that the proposed controller is able to effectively stabillized the quadrotor. | ||
| 596 | |a 1 | ||
| 655 | 7 | |a Theses, IIUM local | |
| 690 | |a Dissertations, Academic |x Department of Mechatronics Engineering |z IIUM | ||
| 710 | 2 | |a International Islamic University Malaysia. |b Department of Mechatronics Engineering | |
| 856 | 4 | |u http://studentrepo.iium.edu.my/handle/123456789/4590 |z Click here to view 1st 24 pages of the thesis. Members can view fulltext at the specified PCs in the library. | |
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