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Simple GUI Wireless Controller of Quadcopter

International Journal of Communications, Network and System Sciences 2013年第1期6卷 52-59页

作者： Dirman Hanafi Mongkhun Qetkeaw rozaimi ghazali Mohd Nor Mohd Than Wahyu Mulyo Utomo Rosli Omar Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering University Tun Hussein Onn Malaysia Batu Pahat Malaysia Department of Power Engineering Faculty of Electrical and Electronic Engineering University Tun Hussein Onn Malaysia Batu Pahat Malaysia

This paper presents the development of remotely operated Quadcopter system. The Quadcopter is controlled through a graphical user interface (GUI) where the communication between GUI and Quadcopter is constructed by using wireless communication system. The Quadcopter balancing condition is sensed by FY90 controller and IMU 5DOF sensor. For smooth landing, Quadcopter is equipped with ultrasonic sensor. All signals from sensors are processed by Arduino Uno microcontroller board and output from the Arduino Uno microcontroller board is implemented to control Quadcopter propellers. The GUI is designed using Visual Basic 2008 Express as interfacing communication between the Proportional, Integral and Derivative (PID) controller and the Quadcopter system. The experiment shows that the Quadcopter system can hover while maintain it balancing and the stability is guaranteed. Moreover, the developed system is able to cope with load disturbance up to 250 gduring the hover position. Maximum operated time of Quadcopter is six minutes using 2200 mAh Lipo battery and operate time can be increased by using largest battery capacity.

关键词： Quadcopter GUI Wireless Arduino Uno PID Controller

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Two-degree-of-freedom Robust Control for a Non-minimum Phase Electro-hydraulic System

Two-degree-of-freedom Robust Control for a Non-minimum Phase...

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第24届中国控制与决策会议

作者： rozaimi ghazali Yahaya Md Sam Mohd Fua'ad Rahmat Dirman Hanafi Zulfatman Mechatronic and Robotic Engineering Department Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia86400 Batu Pahat Johor Malaysia Control and Instrumentation Engineering Department Faculty of Electrical Engineering Universiti Teknologi Malaysia81310 Skudai Johor Malaysia

Electro-hydraulic actuator （EHA） system inherently suffers from uncertainties, nonlinearities and time-varying in its model parameters which makes the modeling and controller designs are more complicated. The main objective of this paper is to perform a robust control design using discrete-time sliding mode control （DSMC） with two-degree-of-freedom control strategy. The proposed controller consists of feedback and feedforward combination which capable to reduce phase lag during the trajectory tracking of EHA system. The feedforward controller is developed by implementing the zero phase error tracking control （ZPETC） technique which the main difficulty arises from the nonminimum phase system with no stable inverse. Finally, a chaotic trajectory tracking is performed in the experimental works to show the robustness of DSMC controller and performance comparison is made with Linear-Quadratic-Regulator （LQR） and Proportional-Integral-Derivative （PID） controllers. The findings show that the proposed controller with ZPETC outperforms the LQR and PID controllers in terms of tracking accuracy.

关键词： Electro-hydraulic Actuator System Sliding Mode Control Trajectory Tracking Control and Two-degree-freedom Control Structure

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