MARC details
| 000 -LEADER |
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| fixed length control field |
03373nam a2200349 i 4500 |
| 003 - CONTROL NUMBER IDENTIFIER |
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| control field |
MY-KuUP |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
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| control field |
20251125110003.0 |
| 006 - FIXED-LENGTH DATA ELEMENTS--ADDITIONAL MATERIAL CHARACTERISTICS |
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| fixed length control field |
a||||fr|||| 001 0 |
| 007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION |
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| fixed length control field |
ta |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
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| fixed length control field |
220407t20212021my a|||fram|| 001 0 eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
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| International Standard Book Number |
THE0009299(Local) |
| 040 ## - CATALOGING SOURCE |
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| Original cataloging agency |
UMP |
| Language of cataloging |
eng |
| Transcribing agency |
UMP |
| Description conventions |
rda |
| 090 ## - LOCALLY ASSIGNED LC-TYPE CALL NUMBER (OCLC); LOCAL CALL NUMBER (RLIN) |
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| Classification number (OCLC) (R) ; Classification number, CALL (RLIN) (NR) |
FTKEE .B35 2021 r Thesis |
| 100 0# - MAIN ENTRY--PERSONAL NAME |
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| Personal name |
Balya Darohini, |
| Relator term |
author. |
| 245 10 - TITLE STATEMENT |
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| Title |
Optimizing performance on a quaternion based quadrotor control scheme / |
| Statement of responsibility, etc. |
Balya Darohini |
| 264 #1 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
|---|
| Place of production, publication, distribution, manufacture |
Kuantan, Pahang : |
| Name of producer, publisher, distributor, manufacturer |
UMP ; |
| Date of production, publication, distribution, manufacture, or copyright notice |
2021 |
| 264 #4 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
|---|
| Place of production, publication, distribution, manufacture |
Β© 2021 |
| 300 ## - PHYSICAL DESCRIPTION |
|---|
| Extent |
xii, 89 pages : |
| Other physical details |
illustrations (some color) ; |
| Dimensions |
30 cm. + |
| Accompanying material |
1 CD ROM |
| 336 ## - CONTENT TYPE |
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| Content type term |
text |
| Source |
rdacontent |
| 337 ## - MEDIA TYPE |
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| Media type term |
unmediated |
| Source |
rdamedia |
| 338 ## - CARRIER TYPE |
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| Carrier type term |
volume |
| Source |
rdacarrier |
| 347 ## - DIGITAL FILE CHARACTERISTICS |
|---|
| File type |
text file |
| Encoding format |
PDF |
| Source |
rda |
| 500 ## - GENERAL NOTE |
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| General note |
Faculty of Electrical & Electronics Engineering |
| 502 ## - DISSERTATION NOTE |
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| Dissertation note |
Thesis (Master of Science) -- Universiti Malaysia Pahang β 2021 |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE |
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| Bibliography, etc. note |
Includes bibliographical references |
| 520 3# - SUMMARY, ETC. |
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| Summary, etc. |
Quadrotor has become very popular and their usage has spread over all fields of life that require some demanded tasks. The demanded tasks for Quadrotor to be complicated require the control algorithms to have better performance and more efficiency. Thus, comprehensive aim precisely at the development of control algorithm for quadrotor based on a hybrid of controller synthesis on Proportional Integral Derivative (PID) and Proportional Controller, ππ so that the performance and functionality system may be compromised. This project started with the modeling of the dynamics Quaternion angle based on quadrotor since Eulerβs angle is prone to gimbal lock. This led to the implementation of the quadrotor in a computer simulation environment called Simulink. Then followed by the hybrid of controller synthesis on PID and ππ implemented in the dynamic Quaternion model. The proposed hybrid control algorithm and quadrotor attitude model have been implemented in fully Quaternion space without any conversion and calculations in the Eulerβs angles. In this project, the optimized Quaternion composed of πΎπ, πΎπΌ , πΎπ· and ππ are proposed, and finally, the output effective waveform produced by optimization using Genetic Algorithm and Particle Swarm Optimization are shown and presented by simulations using MATLAB. The efficiency of the proposed scheme has been proven after using optimized gain of πΎπ , πΎπΌ , πΎπ· and ππ and presented thoroughly. It has shown that the proposed Quaternion angle based on Quadrotor control scheme has a better response as they can cater the error with a very good and fast-tracking in step response analysis about 1.3s than 4.2s shown in previous work whereas about 31% of improvement. For sin wave response, the following error has been reduced from Β±40% to Β±0.02%. For ramp response, it improvised the response to follow the reference accordingly without shifted up or shifted down from the reference. Plus, it has proven there is zero overshoot produce by the optimized system and the proposed controller allowing a good attitude of control over its Roll, Pitch, and Yaw angles. |
| 610 20 - SUBJECT ADDED ENTRY--CORPORATE NAME |
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| Corporate name or jurisdiction name as entry element |
Faculty of Electrical & Electronics Engineering Technology |
| General subdivision |
Dissertations |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Universities and colleges |
| General subdivision |
Dissertations |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Theses |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) |
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| Source of classification or shelving scheme |
Library of Congress Classification |
| Koha item type |
Restricted Collection |