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All Journal Buletin Ilmiah Sarjana Teknik Elektro International Journal of Robotics and Control Systems
Mien, Trinh Luong
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Control & Systems Engineering Electrical & Electronics Engineering

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Design and Quality Evaluation of the Position and Attitude Control System for 6-DOF UAV Quadcopter Using Heuristic PID Tuning Methods Mien, Trinh Luong; Tu, Tran Ngoc
International Journal of Robotics and Control Systems Vol 4, No 4 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i4.1594

Abstract

Nowadays, UAV quadcopters are widely used in many fields, specially in transporting the lightweight goods parcels. This article aims to design and evaluation of the quality of the 6-DOF UAV quadcopter control system using heuristic PID tuning methods to ensure stable control of flight position and attitude. Firstly, the article presents the dynamic mathematical model of the 6-DOF UAV quadcopter, including 3 Euler angle variables and 3 flight position and altitude variables. From there, the article proposes the 6-DOF UAV control syste structure with two single control loops for flight attitude, yaw angle and two dual control loops for roll-pitch angles, flight position. And then, the article presents the application of the heuristic PID tuning methods to each control loop of a 6-DOF UAV quadcopter to calculate the PID controller parameters to ensure stable control the desired flight position and altitude. The simulation results and evaluating the 6-DOF UAV quadcopter control system quality in Matlab, using the proposed heuristic PID controllers, show that the PID controllers according to the Tyreus-Luyben method gives the best quality, with a steady-state error of less than 1%. The main contribution of this article is the comparative analysis of three heuristic PID tuning methods - Ziegler-Nichols, Tyreus-Luyben, PID tuner - for controlling the position and attitude of a 6-DOF UAV quadcopter.  These findings demonstrate that the proposed PID controllers can be effectively implemented in practical UAV applications, enhancing the stability and performance of quadcopters in various fields.
Cascade PID Control for Altitude and Angular Position Stabilization of 6-DOF UAV Quadcopter Mien, Trinh Luong; Tu, Tran Ngoc; An, Vo Van
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1410

Abstract

UAVs are commonly used in transportation, especially in the express delivery of light cargo parcels. However, controlling UAVs is difficult because of their complex structure and wide range of operations in space. The research contribution is proposed a cascade control structure using six PID controllers for the 6-DOF UAV quadcopter, that ensures the altitude angulars positions control at the desired values and maintains flight balance stability for the 6-DOF UAV quadcopter. First, the mathematical dynamic models for the 6-DOF UAV quadcopter have been researched and developed, including the translational dynamic mathematical model and the rotational dynamic mathematical model of the 6-DOF UAV quadcopter. This is a complex object with strong nonlinearity and difficult control. And then, the article introduces the method of designing six PID controllers for 6-DOF UAV quadcopter to meet the requirements, based on applying the Ziegler-Nichols experimental method.  Applying the Ziegler-Nichols experimental method makes the process of designing a UAV quadcopter control system simple, straightforward and heuristics with fast controller parameters tuning. Next, the article presents the results of modeling and simulation of the 6-DOF UAV quadcopter control system on Matlab/Simulink. The simulation results show that the six proposed PID controllers have ensured the flight balance stability at the desired altitude and angular positions with overshoot less than 20%, steady-state error less than 1%.  This shows the prospect of applying the proposed PID control method to physical UAVs, easily adjusting PID parameters to suit the flight environment.
Application of AI-IoT Technologies to Develop the Smart LED Display Management and Monitoring System for the Laboratory Mien, Trinh Luong; Duy, Vu Van; Huong, Trinh Thi; Dung, Nguyen Trung
Buletin Ilmiah Sarjana Teknik Elektro Vol. 8 No. 1 (2026): February
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v8i1.15263

Abstract

Smart LED display systems are widely used to provide useful information to users, ranging from simple LED screens to complex screens management and monitoring systems involving a large number of diverse devices, capable of integrating modern technologies. This research focuses on developing a smart LED display management and monitoring system for a laboratory using AI-IoT technologies, which combines deep learning, computer vision, edge computing, embedded system, IoT Communication (MQTT), and web-based management. The goal is to provide convenience, efficiency, and flexibility for users and managers, enabling easy remote information updates and real-time display on LED screens, while simultaneously automatically monitoring and accurately counting the number of people entering and leaving the laboratory. The development of the system includes designing an ESP32-based central LED control board, selecting the P2.5 LED modules, the jetson nano, the Logitech C505e camera, suitable for low-cost educational research. Subsequently, the article introduces the image processing algorithm for counting people based on YOLOv7 TensorRT inference and develops the web management interface based on the Next.js platform, combined with data communication via MQTT protocol. This research was then experimentally implemented at the Mitsubishi FA Laboratory at the university of transport and communications (UTC). The experimental results showed that the Web interface features a grid layout divided into three functional groups, allowing for display content configuration, graphical visualization, clear status display. It provides networked link-tags for updating date/time, temperature/humidity, and In/Out people counts in real-time on both the Web and the LED screen via MQTT/ WebSocket protocols. The experimental results also indicated that the proposed algorithm for counting people In/Out the laboratory achieves high accuracy, over 90%, under normal, stable lighting conditions. This confirms that the proposed smart LED display system operates efficiently, stably, and reliably, and suitable for promoting the digital management of laboratories at a low investment cost.
Co-Authors An, Vo Van Dung, Nguyen Trung Duy, Vu Van Huong, Trinh Thi Tu, Tran Ngoc