03373nam a2200349 i 4500 0 0 lcc 0 0 REF 20000 20000 REF 2022-01-25 0 FTKEE .B35 2021 r Thesis T000001761 2022-06-08 00:00:00 1 2022-01-25 RESTRICT 0 0 lcc 0 0 REF 20000 20000 2022-04-07 0 CD 13048 T000001762 2022-04-07 00:00:00 1 2022-04-07 RESTRICT 96578 96584 MY-KuUP 20251125110003.0 a||||fr|||| 001 0 ta 220407t20212021my a|||fram|| 001 0 eng d THE0009299(Local) UMP eng UMP rda FTKEE .B35 2021 r Thesis Balya Darohini, author. Optimizing performance on a quaternion based quadrotor control scheme / Balya Darohini Kuantan, Pahang : UMP ; 2021 © 2021 xii, 89 pages : illustrations (some color) ; 30 cm. + 1 CD ROM text rdacontent unmediated rdamedia volume rdacarrier text file PDF rda 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. Faculty of Electrical & Electronics Engineering Technology Dissertations Universities and colleges Dissertations Theses lcc RESTRICT