Accelerometer Performance for Maker Faire Quadrotor with Kalman Filtering Using PID Controller

Muhammad Zaim; Elmi Abu Bakar; Low Hock Soon

doi:10.4028/www.scientific.net/AMM.773-774.63

Paper Titles

Perforated Impact Strength of Woven Kenaf Fiber Reinforced Composites
p.43

Oblique Perforated Impact Strength of Woven Kenaf Fiber Reinforced Composites
p.48

Analysis of Sound Produced by a Traditional Malay Musical Instrument “Kompang”
p.53

Constant Amplitude of Prestressed Concrete Sleeper (PCS) Subjected to Three Coaches Train
p.58

Accelerometer Performance for Maker Faire Quadrotor with Kalman Filtering Using PID Controller
p.63

Novel Straight Type Aortic Cannula with Spiral Flow Inducing Design
p.69

The Study on Whole Body Vibration Exposure Induces Low Back Pain among UTHM Bus Drivers
p.75

Analysis of Vibration Effects on Floor of Office Building due to Ground Vibrations from Passing Vehicles
p.80

Steel Ball System Control Using T-S Type Fuzzy Logic
p.85

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 773-774Accelerometer Performance for Maker Faire...

Accelerometer Performance for Maker Faire Quadrotor with Kalman Filtering Using PID Controller

Abstract:

This paper presents a study on quadrotor using PID controller together with the application of Kalman Filter. Purpose of this project is to study effect of separate Kalman filter in overcoming the signal noise and gyro drift in the attitude sensors and simulate the PID controller which controlling the quadrotor dynamics through damping the vehicle oscillation. In this research, simulation of Kalman Filter in filtering the noise from the inertial moment unit (IMU) and PID controller in damping on unstable oscillation has been conducted to observe the performance of the quadrotor.

By email View Pdf

You have full access to the following eBook

International Integrated Engineering Summit 2014

Read eBook

Info:

Periodical:

Applied Mechanics and Materials (Volumes 773-774)

Pages:

63-68

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.773-774.63

Citation:

Cite this paper

Online since:

July 2015

Authors:

Muhammad Zaim*, Elmi Abu Bakar, Low Hock Soon

Keywords:

Kalman Filter, PID Controller, Quadrotor

Export:

RIS, BibTeX

Permissions:

Creative Commons CC BY 4.0

Citation:

* - Corresponding Author

References

[1] Atheer L. Salih, M. Moghavvemi, Haider A. F. Mohamed and KhalafSallomGaeid, (2010)Modeling and PID Controller Design for a Quadrotor Unmanned Air Vehicle.

DOI: 10.1109/aqtr.2010.5520914

Google Scholar

[2] Bouabdallah S. and Siegwart R., (2007 ) Full Control of a Quadrotor.

Google Scholar

[3] Bouabdallah S., Design and control of quadrotors with application to autonomous flying, Ph.D. dissertation, EPFL, (2006).

Google Scholar

[4] Gabriel M. Hoffmann, Haomiao Huang, Steven L. Waslander and Claire J. Tomlin, (2011) Precision flight control for a multi-vehicle quadrotor helicopter testbed.

DOI: 10.1016/j.conengprac.2011.04.005

Google Scholar

[5] Gabriel M. Hoffmann, Huang H., Steven L. Waslander and Claire J. Tomlin, (2007) Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment, American Institute of Aeronautics and Astronautics.

DOI: 10.2514/6.2007-6461

Google Scholar

[6] GarciaR.A., RubioF.R. and OrtegaM.G., (2012) Robust PID Control of the Quadrotor Helicopter.

Google Scholar

[7] LeffertsE.J., MarkleyF. L., ShusterM. D., Kalman filtering for spacecraft attitude estimation, Journal of Guidance, Control and Dynamics 5 (1982) 417-429.

DOI: 10.2514/3.56190

Google Scholar

[8] Miller K., (2008) Path Tracking Control for Quadrotor Helicopter.

Google Scholar

[9] Nicol C., MacnabC.J.B. and Ramirez-Serrano A., (2011) Robust adaptive control of a quadrotor helicopter.

Google Scholar

[10] Xiong K., Liang T. and Yongjun L., (2010) Multiple modelKalman filter for attitude determination of precision pointing spacecraft.

Google Scholar