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All Journal Buletin Ilmiah Sarjana Teknik Elektro
Phan, Tran Cong
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Electrical & Electronics Engineering

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Implementation of a Synergetic Controller for a 2-DOF Helicopter on an Embedded Platform Using an STM32 Microcontroller Chiem, Nguyen Xuan; Phan, Tran Cong; Thai, Pham Duy; Hai, Bui Xuan
Buletin Ilmiah Sarjana Teknik Elektro Vol. 7 No. 2 (2025): June
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v7i2.13410

Abstract

This study introduces the development of a synergetic control scheme for a two-degree-of-freedom (2-DOF) helicopter, integrated into an embedded system utilizing the STM32 microcontroller. A discrete-time controller is formulated for both pitch and yaw motion, relying on stable manifold design within the framework of synergetic control. Lyapunov-based analysis is used to ensure system stability. The controller is implemented on an STM32F4 device and coded in the C programming language. System performance is assessed through numerical simulations and real-time testing, with results demonstrating strong control precision and feasibility on the physical experimental platform.
Co-Authors Chiem, Nguyen Xuan Hai, Bui Xuan Thai, Pham Duy