Modeling, attitude estimation, and control of Hexarotor micro aerial vehicle (MAV)

Dafizal Derawi, Nurul Dayana Salim, Mohd Azizi, Abdul Hadi Abd Rahman , Saiful Amri Mazlan, Hairi Zamzuri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper describes modeling, attitude estimation, attitude control, and altitude control for Hexarotor micro aerial vehicle (MAV). Hexarotor has high potential to carry more payload and high maneuverability compared to quadrotor. This paper proposes a new approach for attitude estimation in realtime system by using a nonlinear complementary observer based on special orthogonal group of rotation matrices SO(3), rather than conventional extended Kalman filter (EKF), to exploit the near-global convergence property of the observer and reduced computational complexity. The proposed attitude controller is based on an inner-outer loop structure PI+PID (proportionalintegral plus proportional-integral-derivative) control method to reduce the overshoot effects, leads to faster response, improve robustness and transient response, whilst the proposed altitude controller is based on classical closed loop PID control system. Simulation results will be presented showing the proposed controller achieves excellent dynamical performance and finally, the experimental results, both in indoor and outdoor flying environment demonstrate the effectiveness of the proposed attitude observer and controller in real flight condition.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages55-60
Number of pages6
ISBN (Electronic)9781479939398
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event2014 IEEE International Conference on Industrial Technology, ICIT 2014 - Busan
Duration: 26 Feb 20141 Mar 2014

Other

Other2014 IEEE International Conference on Industrial Technology, ICIT 2014
CityBusan
Period26/2/141/3/14

Fingerprint

Antennas
Controllers
Altitude control
Maneuverability
Three term control systems
Attitude control
Extended Kalman filters
Transient analysis
Computational complexity
Derivatives
Control systems

Keywords

  • altitude control
  • attitude control
  • attitude estimation
  • Hexarotor MAV
  • nonlinear complementary observer

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Derawi, D., Dayana Salim, N., Azizi, M., Abd Rahman , A. H., Mazlan, S. A., & Zamzuri, H. (2014). Modeling, attitude estimation, and control of Hexarotor micro aerial vehicle (MAV). In Proceedings of the IEEE International Conference on Industrial Technology (pp. 55-60). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2014.6894972

Modeling, attitude estimation, and control of Hexarotor micro aerial vehicle (MAV). / Derawi, Dafizal; Dayana Salim, Nurul; Azizi, Mohd; Abd Rahman , Abdul Hadi; Mazlan, Saiful Amri; Zamzuri, Hairi.

Proceedings of the IEEE International Conference on Industrial Technology. Institute of Electrical and Electronics Engineers Inc., 2014. p. 55-60.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Derawi, D, Dayana Salim, N, Azizi, M, Abd Rahman , AH, Mazlan, SA & Zamzuri, H 2014, Modeling, attitude estimation, and control of Hexarotor micro aerial vehicle (MAV). in Proceedings of the IEEE International Conference on Industrial Technology. Institute of Electrical and Electronics Engineers Inc., pp. 55-60, 2014 IEEE International Conference on Industrial Technology, ICIT 2014, Busan, 26/2/14. https://doi.org/10.1109/ICIT.2014.6894972
Derawi D, Dayana Salim N, Azizi M, Abd Rahman  AH, Mazlan SA, Zamzuri H. Modeling, attitude estimation, and control of Hexarotor micro aerial vehicle (MAV). In Proceedings of the IEEE International Conference on Industrial Technology. Institute of Electrical and Electronics Engineers Inc. 2014. p. 55-60 https://doi.org/10.1109/ICIT.2014.6894972
Derawi, Dafizal ; Dayana Salim, Nurul ; Azizi, Mohd ; Abd Rahman , Abdul Hadi ; Mazlan, Saiful Amri ; Zamzuri, Hairi. / Modeling, attitude estimation, and control of Hexarotor micro aerial vehicle (MAV). Proceedings of the IEEE International Conference on Industrial Technology. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 55-60
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