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

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Sensor Fusion Algorithm by Complementary Filter for Attitude Estimation of Quadrotor with Low-Cost IMU A. Noordin; M. A. M. Basri; Z. Mohamed
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 16, No 2: April 2018
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v16i2.9020

Abstract

This paper proposes a sensor fusion algorithm by complementary filter technique for attitude estimation of quadrotor UAV using low-cost MEMS IMU. Angular rate from gyroscope tend to drift over a time while accelerometer data is commonly effected with environmental noise. Therefore, high frequency gyroscope signal and low frequency accelerometer signal is fused using complementary filter algorithm. The complementary filter scaling factor K1=0.98 and K2=0.02 are used to merge both gyro and accelerometer. The results show that the smooth roll, pitch and yaw attitude angle can be obtained from the low cost IMU by using proposed sensor fusion algorithm.
System Identification and LMI Based Robust PID Control of a Two-Link Flexible Manipulator M. Khairudin; Z. Mohamed; A.R. Husain
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 12, No 4: December 2014
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v12i4.293

Abstract

This paper presents investigations into the development of a linear matrix inequalities (LMI) based robust PID control of a nonlinear Two-Link Flexible Manipulator (TLFM) incorporating payload. A set of linear models of a TLFM is obtained by using system identification method in which the linear model represents the operating ranges of the dynamic system. Thus, the LMI constraints permit to robustly guarantee a certain perturbation rejection level and a region of pole location.  To study the effectiveness of the controller, initially a PID control is developed for TLFM with varying payloads. The performances of the controllers are assessed in terms of the input tracking controller capability of the system as compared to the response with PID control. Moreover, the robustness of the LMI based robust PID control schemes is discussed. Finally, a comparative assessment of the control strategies is presented.
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 A.R. Husain M. A. M. Basri Moh. Khairudin