Robust adaptive proportional derivative-active force control for unmanned hexacopter

Velocity Sensor for Real-Time Backstepping Control of a Multirotor Considering Actuator Dynamics

“…, x 12 ] T . The variables U 1 , U 2 , U 3 , and U 4 are given by 4 as the thrust factor, p as the thrust factor seen from the x axis, q as the thrust factor seen from the y axis, and d = (C D ρA)/2 as the drag factor of the propellers, where C T is the thrust coefficient, ρ is the air density, D is the propeller diameter, C D is the drag coefficient, and A is the cross-section of movement.…”

“…A great diversity of research works oriented to the control for multirotors can be found in the literature, as shown in [1,2]. The control scheme approaches include classic control schemes as PID (Proportional-Integral-Derivative) [3,4]; LQR (Linear Quadratic Regulator) [5]; and MPC (Model Predictive Control) [6,7], the main feature of which is the ability to predict behavior of the controlled system to react accordingly; nevertheless, its robustness depends on the accuracy of the obtained model of the system, which usually is based on empirical experimentation. Moreover, standard control techniques as backstepping methods have been merged with more advanced control algorithms to add desired control features in the closed loop system as in [8][9][10][11].…”

Literature Study of Understanding the Physical Concepts of Straight Motion Materials Using the Gasing Method

“…Based on research conducted by schools assisted by the Yohannes Surya Team at Surya Institut, that interest and skills of high-level thinking on the understanding of physical science concepts using a top method (Gampang, Asyik, and Menyenangkan) [14]. The results of this study indicate that: 1) There is a significant difference in conceptual understanding between groups of students who use conventional learning methods and groups of students who use top learning; 2) There is a significant difference in conceptual understanding between groups of students who have high interest and groups of students who have low interest, and 3) There is a significant interaction effect between the implementation of the Gasing method with high and low-interest rates on high level thinking on conceptual understanding [15][16][17][18].…”