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Optimizing performance on a quaternion based quadrotor control scheme / Balya Darohini

By:

Balya Darohini [author.]

Material type: Text

text

Media type:

unmediated

Carrier type:

volume

ISBN:

THE0009299(Local)

Subject(s):

Dissertation note: Thesis (Master of Science) -- Universiti Malaysia Pahang – 2021 Abstract: 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, 𝑃𝜔 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 Euler’s 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 𝑃𝜔 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 Euler’s angles. In this project, the optimized Quaternion composed of 𝐾𝑃, 𝐾𝐼 , 𝐾𝐷 and 𝑃𝜔 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 𝐾𝑃 , 𝐾𝐼 , 𝐾𝐷 and 𝑃𝜔 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 ±40% to ±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.

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Holdings ( 2 )
Title notes ( 4 )

Holdings
Item type	Current library	Collection	Call number	Copy number	Status	Date due	Barcode
Restricted Collection	UMPLIB PEKAN	Reference	CD 13048 (Browse shelf(Opens below))	1	Not for loan		T000001762
Restricted Collection	UMPLIB PEKAN Reference	Reference	FTKEE .B35 2021 r Thesis (Browse shelf(Opens below))	1	Not for loan		T000001761

Faculty of Electrical & Electronics Engineering

Thesis (Master of Science) -- Universiti Malaysia Pahang – 2021

Includes bibliographical references

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, 𝑃𝜔 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 Euler’s 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 𝑃𝜔 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 Euler’s angles. In this project, the optimized Quaternion composed of 𝐾𝑃, 𝐾𝐼 , 𝐾𝐷 and 𝑃𝜔 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 𝐾𝑃 , 𝐾𝐼 , 𝐾𝐷 and 𝑃𝜔 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 ±40% to ±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.