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All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics
M. A. M. Basri
Universiti Teknologi Malaysia
Computer Science & IT Electrical & Electronics Engineering

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Journal : Bulletin of Electrical Engineering and Informatics

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Simulation and experimental study on PID control of a quadrotor MAV with perturbation A. Noordin; M. A. M. Basri; Z. Mohamed
Bulletin of Electrical Engineering and Informatics Vol 9, No 5: October 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (968.767 KB) | DOI: 10.11591/eei.v9i5.2158

Abstract

This paper presents a proportional-integral-derivative (PID) flight controller for a quadrotor micro air vehicle (MAV). The MAV (Parrot Mambo minidrones) is small, therefore, a slight perturbation will affect its performance. Hence, for the actuated dynamics, roll (ϕ), pitch (θ), yaw (ψ), and z stabilization, a PID control scheme is proposed. Furthermore, the same controller technique is also applied for under-actuated dynamics x and y position control. The newtonian model is simulated using simulink with a normal Gaussian noise of force as external disturbances. using simulink support package for Parrot Minidrones by MATLAB and based on the simulation parameter, the algorithm is deployed using Bluetooth® Low energy connection via personal area network (PAN). A slight force by hand is applied as perturbation during hovering to investigation system performances. Finally, the simulation and experimental on this commercial MAV, Parrot Mambo minidrones shows good performance of the flight controller scheme in the presence of external disturbances.
Co-Authors A. Noordin Z. Mohamed