Design of Aquatic Quadcopter with Hold Position Control and Gimbal Controller for capturing Underwater Video

Abstract

The paper presents design of an aquatic quadcopter which have four driving forces enabling it to move upward, downward, forward, and backward for capturing underwater video. The system will be used for taking underwater video that usually can be performed by the diver. The current issue in aquatic quadcopter researchs is how the system can automatically maintain its roll, pitch, and depth position for producing smooth video. The existing systems still adopted the manual-mode control that only can operated by the expert operator. The proposal designs and realizes an aquatic quadcopter system having features such as hold position control and camera stabilization for capturing smooth underwater video. The system utilizes IMU sensor MPU 6050 and pressure sensor MS 5803 for measuring the position of the system (roll, pitch, yaw, and depth). The PID controller is used for maintaining the level as well as the depth of aquatic quadcopter. The Arduino Mega is used as main controller as well as sender of telemetry data to ground station. The experiment result shows that the system able to maintain the position automatically the average error of pitch is 1.53%, average error of roll is 1.37%, and average error of depth is 1 Cm. The realized system can be used for capturing the underwater video.

New lambda tuning approach of single input fuzzy logic using gradient descent algorithm and particle swarm optimization

“…Furthermore, the contradictory parameter configuration such as between the rise time and overshoot may also exist. PID controllers have been implemented in previous work for tracking purposes in UUV [21]- [25] as well as in ROV [17], [26]. Normally, the PID controller was used as a basic controller to be compared with another complex controller such as with linear quadratic regulator (LQR) [6], Fuzzy-based PID [27], [28].…”