Adptive neural controller for attitude stabilization of quadrotor unmanned aerial vehicle (UAV)
In line with the rapid development of the world science and technology, our country has matured in the exploration of new knowledge. Our country has given the very bright opportunity in an engineering field. The researchers intend to produce a useful technology to the community. Now on, air to spa...
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| Format: | Thesis |
| Language: | English |
| Subjects: | |
| Online Access: | http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/31915/1/Page%201-24.pdf http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/31915/2/Full%20text.pdf |
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| Summary: | In line with the rapid development of the world science and technology, our country has
matured in the exploration of new knowledge. Our country has given the very bright
opportunity in an engineering field. The researchers intend to produce a useful technology to the community. Now on, air to space technology become famous for them, especially in the unmanned aerial vehicle (UAV) area. Therefore, this thesis also will present the development of an UAV that uses a new concept named quadrotor which are a combination of helicopter and airplane. This quadrotor capable of takeoff and landing vertically like a helicopter and can maneuver like an airplane. Quadrotor built with a fourrotor placed symmetrically like an added shape, Electronic Speed Controller (ESC),
Inertial Measurement Unit (IMU) sensor and a Lithium Polymer (Li-Po) battery. Simple
configuration causes quadrotor preferred used as unmanned vehicles. Quadrotor movement
is controlled by the thrust produced by the four-rotor which means to move quadrotor the
four rotor speed must be controlled independently. The rotor can be controlled separately
through the programming provided in the control system. The main problem faced is to
control the quadrotor attitude during flight time. Adaptive Neural Controller (ANC) is used
to control the quadrotor attitude. This system was adopted because it can respond quickly
and accurately following the reference model. Before that, the quadrotor kinematic and
dynamic analysis must be done. Through the analysis, we can determine quadrotor
modeling. Modeling quadrotor used to find the quadrotor plant so that the system will be
able to identify the quadrotor characteristics. Constant parameters are getting from
calculation and experimental test used in quadrotor modeling. Simulation tests carried out
using Matlab software to find quadrotor stability in roll, pitch and yaw axis. After the
controller gives a good response in simulation, the code converts into C programming and
implement in the microcontroller and should synchronize with the hardware configuration.
The actual test flights conducted in an indoor to test for stability. Disturbance test also will
be conducted. For the future development several of sensors will be added to increase the ability quadrotor to fly autonomously without any guidance from the ground station and also human. |
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