Quadcopter Path Following Control Design Using Output Feedback with Command Generator Tracker LOS Based At Square Path

Nugraha, Anggara Trisna; Agustinah, Trihastuti

doi:10.1088/1742-6596/947/1/012074

Cited by 7 publications

(5 citation statements)

References 2 publications

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“…However, these functions need to be transformed into respect to time in order for the calibration within the feedback control to function at every single time stamp throughout the performance of the quadrotor, as well as for the comparison and visualization between functions at different times. Thus, the first derivative needs to be taken, and using equations 𝐼 𝑚𝑟 (7) and 𝐹 𝑚𝑎 (8) we can determine factors that govern the movement and position of the quadrotor. By matching up and substituting opposite but equal forces that would cause the quadrotor to stay in a constant position into the initial value equations and substituting in the second derivative for acceleration, we get…”

Section: Functions With Respect To Timementioning

confidence: 99%

“…In most configurations, not just in PID and LQT, the desired behavior for the quadrotor would be considered by the controller after recording the input values. The controller will track errors and process data, keeping the quadcopter in its predetermined trajectory or parameters, which then results in outputs [8]. Thus, in order to create a stable and efficient quadcopter, it is crucially important to maintain the correct initial functions of the quadrotors or other machines and for them to respond correctly to the designated task.…”

Section: Introductionmentioning

confidence: 99%

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Motion control and planning of a two-dimensional flying machine

Wang

2022

International Conference on Intelligent and Human-Computer Interaction Technology (IHCIT 2022)

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In this paper, the most optimal motion control and planning for a two-dimensional flying machine will be explored. A quadrotor will be taken as an example of a two-dimensional flying machine for examination, and all aspects of forces acting on the quadrotor are taken into consideration within the control algorithm in order towards achieving stable and optimal flight. On-off Controls and Proportional Controls are implemented through python programming and are visually graphed to provide guidance on evaluation of functionality. Finally, future applications of proportional algorithms will be discussed.

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Section: Functions With Respect To Timementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Motion control and planning of a two-dimensional flying machine

Wang

2022

International Conference on Intelligent and Human-Computer Interaction Technology (IHCIT 2022)

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“…For that purpose, MUAV initial conditions are assumed to be identical to those in the previous subsections, approaches, e.g. PID control, and has been reported in the existing literature [192], [197], [198].…”

Section: Trajectory Tracking Scenariomentioning

confidence: 99%

Estimation and control of a manipulating unmanned aerial vehicle

Khamseh¹

2021

Preprint

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A Manipulating Unmanned Aerial Vehicle (MUAV) is an aerial platform equipped with a mechanism to physically interact with its environment. The interaction is realized by means of robotic arm(s), vehicle body or suspension cable(s) and enables a wide range of novel applications including perching, grasping, pick–and–place, load transportation, etc. However, this is a challenging task as MUAVs are inherently unstable platforms with highly nonlinear and coupled dynamics, often associated with moving parts that result in complex modelling, estimation and control problems. This thesis deals with the problem of estimation and control of MUAVs. First, a comprehensive literature survey covering various aspects of MUAVs such as those related to modelling, estimation and control is presented. In the first approach for MUAV state estimation and control, effects of robotic manipulator on Unmanned Aerial Vehicle (UAV) dynamic equations of motion is treated by adding process noise with unknown noise statistics to conventional UAV dynamic model. With that in mind, state estimating and control of a UAV by means of conventional Kalman filters and their adaptive counterparts are formulated. Having designed Linear Quadratic Regulator (LQR) laws, it is shown that adaptive Kalman filters provide accurate satisfactory estimation and overall control of a UAV, even with simultaneous uncertain process and measurement noise statistics. Next, in order to improve the estimation and overall control performance of the previous approach, full nonlinear and coupled dynamic modelling of a MUAV based on Euler–Lagrange formulation is presented. Then, a General Unscented Kalman Filter (GUKF) is proposed to accomplish full state estimation of a MUAV, along with LQR control laws. Finally, in order to improve the execution time of GUKF, a computationally–efficient UKF known as Scaled Spherical UKF (SSUKF) with estimation and overall control performance comparable to GUKF is formulated. It is shown that both UKF–based algorithms result in satisfactory estimation and setpoint/trajectory tracking of quadcopter UAV and its robotic manipulator, even in scenarios with increased noise level and a period of total outage of sensory data.

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“…Hampir 50% listrik di pusat perbelanjaan digunakan untuk memasok sistem pendingin udara (AC) [5]. Dalam hal konservasi energi, langkah strategis untuk mendukung penyediaan tenaga listrik secara maksimal adalah dengan tetap melaksanakan kebijakan energi nasional sesuai dengan peraturan Kementerian Energi dan Sumber Daya Mineral No 13 (2012) [6]. Salah satu bentuk pekerjaan ini adalah meningkatkan konsumsi energi gedung-gedung tertentu dan gedung-gedung besar lainnya.…”

Section: Pendahuluanunclassified

Analisis Optimalisasi Manajemen Daya Chiller Untuk Rencana AC Sentral Industri

Nugraha¹,

Tiwana²,

Ravi³

2021

J. Janitra Inform. Sis. Inf.

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Saat ini kebutuhan energi listrik untuk memenuhi kebutuhan rumah tangga, gedung dan industri semakin meningkat yang tidak bisa dipandang sebelah mata. Dengan pertumbuhan penduduk dan pertumbuhan ekonomi, permintaan ini akan terus meningkat. Tentunya karena energi listrik ini digunakan dalam jumlah besar, maka perlu dilakukan peningkatan efisiensinya. Pusat perbelanjaan adalah salah satu pengguna listrik terbesar, terutama dalam hal sistem pendingin. Oleh karena itu, perlu adanya penghematan energi di pusat perbelanjaan. Industri merupakan salah satu pusat perbelanjaan besar yang baru saja dibuka, dan karena penyewa masih sedikit, maka pusat perbelanjaan tersebut masih relatif sepi, sehingga industri perlu menghemat energi karena konsumsi energi yang rendah. Dengan mengoptimalkan power management dan menghitung nilai coefficient of performance (COP) chiller, maka dapat dibangun pusat perbelanjaan hemat energi pada sistem HVAC (khususnya chiller). Melalui analisis didapatkan COP meningkat menjadi 0,584, dan nilai sebelum optimasi sebesar 6,181. Dengan meningkatnya COP, kinerja chiller akan meningkat. Efisiensi energi listrik yang dioptimalkan dari cooler adalah 138,82 kWh / hari.

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Quadcopter Path Following Control Design Using Output Feedback with Command Generator Tracker LOS Based At Square Path

Cited by 7 publications

References 2 publications

Motion control and planning of a two-dimensional flying machine

Motion control and planning of a two-dimensional flying machine

Estimation and control of a manipulating unmanned aerial vehicle

Analisis Optimalisasi Manajemen Daya Chiller Untuk Rencana AC Sentral Industri

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