Optimal backstepping control of quadrotor UAV using gravitational search opti...journalBEEI
Quadrotor unmanned aerial vehicle (UAV) has superior characteristics such as ability to take off and land vertically, to hover in a stable air condition and to perform fast maneuvers. However, developing a high-performance quadrotor UAV controller is a difficult problem as quadrotor is an unstable and underactuated nonlinear system. The effort in this article focuses on designing and optimizing an autonomous quadrotor UAV controller. First, the aerial vehicle's dynamic model is presented. Then it is suggested an optimal backstepping controller (OBC). Traditionally, backstepping controller (BC) parameters are often selected arbitrarily. The gravitational search algorithm (GSA) is used here to determine the BC parameter optimum values. In the algorithm, the control parameters are calculated using an integral absolute error to minimize the fitness function. As the control law is based on the theorem of Lyapunov, the asymptotic stability of the scheme can be ensured. Finally, several simulation studies are conducted to show the efficacy of the suggested OBC.
Optimal backstepping control of quadrotor UAV using gravitational search opti...journalBEEI
Quadrotor unmanned aerial vehicle (UAV) has superior characteristics such as ability to take off and land vertically, to hover in a stable air condition and to perform fast maneuvers. However, developing a high-performance quadrotor UAV controller is a difficult problem as quadrotor is an unstable and underactuated nonlinear system. The effort in this article focuses on designing and optimizing an autonomous quadrotor UAV controller. First, the aerial vehicle's dynamic model is presented. Then it is suggested an optimal backstepping controller (OBC). Traditionally, backstepping controller (BC) parameters are often selected arbitrarily. The gravitational search algorithm (GSA) is used here to determine the BC parameter optimum values. In the algorithm, the control parameters are calculated using an integral absolute error to minimize the fitness function. As the control law is based on the theorem of Lyapunov, the asymptotic stability of the scheme can be ensured. Finally, several simulation studies are conducted to show the efficacy of the suggested OBC.
Real-Time Hardware-in-the-Loop Testing of an Excitation Control System for Os...Luigi Vanfretti
Poster Presentation at the IEEE PES General Meeting.
A feature of an Excitation Control System (ECS) for synchronous generators is to enable power system stabilization by providing an additional input to the Automatic Voltage Regulator (AVR) for external stabilization signals. This paper explores this feature by externally generating stabilization signals which are fed as an analog input to a commercial ECS. This allows bypassing the built-in PSS function in the ECS and gives more freedom to the end-user to utilize custom stabilizer models. ABB’s Unitrol 1020 Excitation Control System is coupled with Opal-RT’s eMEGAsim Real-Time simulator to perform Hardware-in-the-Loop simulation of the ECS. The output of several stabilizer models is fed to the ABB’s Unitrol 1020 ECS as external power system stabilization signals to analyze their performance for small signal stability enhancement.
PMU-Based Real-Time Damping Control System Software and Hardware Architecture...Luigi Vanfretti
Poster Presentation at the IEEE PES General Meeting. Low-frequency, electromechanically induced, inter- area oscillations are of concern in the continued stability of inter- connected power systems. Wide Area Monitoring, Protection and Control (WAMPAC) systems based on wide-area measurements such as synchrophasor (C37.118) data can be exploited to address the inter-area oscillation problem. This work develops a hardware prototype of a synchrophasor-based oscillation damping control system. A Compact Reconfigurable Input Output (cRIO) con- troller from National Instruments is used to implement the real- time prototype. This paper presents the design process followed for the development of the software architecture. The design method followed a three step process of design proposal, design refinement and finally attempted implementation. The goals of the design, the challenges faced and the refinements necessary are presented. The design implemented is tested and validated on OPAL-RT’s eMEGASIM real-time simulation platform and a brief discussion of the experimental results is included.
Optimal and pid controller for controlling camera’s position in unmanned aeri...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using MATLAB technique and the results displayed graphically, also PID controller was designedand simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
Due to extensive use of motion control system in industry, there has been growing research on proportional-integral-derivative (PID) controllers. DC motors are widely used various areas of industrial applications. The aim of this paper is to implement efficient method for controlling speed of DC motor using a PID controller based. Proposed system is implemented using arduino microcontroller and PID controller. Motor speed is controlled through PID based revolutions per minute of the motor. This encoder data will be send through microcontroller to Personal Computer with PID controller implemented in MATLAB. Results shows that PID controllers used provide efficient controlling of DC motor.
Real-Time Hardware-in-the-Loop Testing of an Excitation Control System for Os...Luigi Vanfretti
Poster Presentation at the IEEE PES General Meeting.
A feature of an Excitation Control System (ECS) for synchronous generators is to enable power system stabilization by providing an additional input to the Automatic Voltage Regulator (AVR) for external stabilization signals. This paper explores this feature by externally generating stabilization signals which are fed as an analog input to a commercial ECS. This allows bypassing the built-in PSS function in the ECS and gives more freedom to the end-user to utilize custom stabilizer models. ABB’s Unitrol 1020 Excitation Control System is coupled with Opal-RT’s eMEGAsim Real-Time simulator to perform Hardware-in-the-Loop simulation of the ECS. The output of several stabilizer models is fed to the ABB’s Unitrol 1020 ECS as external power system stabilization signals to analyze their performance for small signal stability enhancement.
PMU-Based Real-Time Damping Control System Software and Hardware Architecture...Luigi Vanfretti
Poster Presentation at the IEEE PES General Meeting. Low-frequency, electromechanically induced, inter- area oscillations are of concern in the continued stability of inter- connected power systems. Wide Area Monitoring, Protection and Control (WAMPAC) systems based on wide-area measurements such as synchrophasor (C37.118) data can be exploited to address the inter-area oscillation problem. This work develops a hardware prototype of a synchrophasor-based oscillation damping control system. A Compact Reconfigurable Input Output (cRIO) con- troller from National Instruments is used to implement the real- time prototype. This paper presents the design process followed for the development of the software architecture. The design method followed a three step process of design proposal, design refinement and finally attempted implementation. The goals of the design, the challenges faced and the refinements necessary are presented. The design implemented is tested and validated on OPAL-RT’s eMEGASIM real-time simulation platform and a brief discussion of the experimental results is included.
Optimal and pid controller for controlling camera’s position in unmanned aeri...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using MATLAB technique and the results displayed graphically, also PID controller was designedand simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
Due to extensive use of motion control system in industry, there has been growing research on proportional-integral-derivative (PID) controllers. DC motors are widely used various areas of industrial applications. The aim of this paper is to implement efficient method for controlling speed of DC motor using a PID controller based. Proposed system is implemented using arduino microcontroller and PID controller. Motor speed is controlled through PID based revolutions per minute of the motor. This encoder data will be send through microcontroller to Personal Computer with PID controller implemented in MATLAB. Results shows that PID controllers used provide efficient controlling of DC motor.
Vertical Take Off and Landing Vehicles (VTOL) are the ones which can take off and land from the same
place without need of long runway. This paper gives the brief idea about numerous types of VTOLs and their
advantages over traditional aircrafts. They can either be of manned type or unmanned type and can be in various sizes and scales. The paper gives insight to various types of multicopter and evaluates their configurations.
ME438 Aerodynamics is offered by Dr. Bilal Siddiqui to senior mechanical engineeing undergraduates at DHA Suffa University. This lecture set is an introduction to vortex lattice method (VLM) through the Kutta condition and circulation.