Teaching Tool for a Control Systems Laboratory Using a Quadrotor as a Plant in MATLAB

Khan, Subhan; Jaffery, Mujtaba Hussain; Hanif, Athar; Asif, Muhammad Rizwan

doi:10.1109/te.2017.2653762

Cited by 52 publications

(28 citation statements)

References 32 publications

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“…Although there are some research studies on the stabilization of the electromagnetic levitation systems using a computer [28,15], the Kuo's condition greatly hinders implementation in low‐resource microcontrollers. Another attractive example for the teaching–learning process in engineering was proposed by Khan et al [16], which shows a virtual quad‐rotor controlled by a PID using the SimuLink™ toolbox. They show the system response in three‐dimensional animation by using numerical simulations, but they do not discuss any implementation approach of the PID controller neither the plant.…”

Section: Introductionmentioning

confidence: 99%

Digital proportional‐derivative controller implemented in low‐resource microcontrollers

Jiménez-Ramírez

Cardenas-Valderrama

Ordonez-Sanchez

et al. 2020

Comp Applic In Engineering

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The use of software and microcontrollers helps engineering students to gain a better understanding of the different concepts and algorithms of digital control theory, which they can apply in their professional work in industrial environments. Typically, these digital control concepts and algorithms are implemented in high-resources microcontrollers; nevertheless, we show that they can also be implemented in low-resource devices, helping students to acquire fundamental knowledge and develop long-term skills to solve real problems from the learning they achieve in their undergraduate educational programs in control or computer engineering. For this purpose, we provide an algorithm to synthesize a digital proportional-derivative controller oriented to low-resource microcontrollers (microcontrollers without floating-point unit). This algorithm allows implementing solutions for classic controllers in low-resource microcontrollers applied to academic and technological fields. This algorithm reduces the excessive amount of execution time in a low-resource microcontroller, it works with integer numbers and it is designed to implement fast classical controllers, which typically are performed with floating-point operations. Furthermore, we present a brief description of the implemented electronic circuit, serving as a guide for students to develop their own circuits. The experimental results show that the proposed algorithm can be successfully applied to an electromagnetic levitation system, which is commonly used in the academic training of electronics and control engineers, mainly due to its unstable nature. In this case, although the levitation system has a small time constant, the proposed algorithm appropriately leads the system to a stable regime.

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Section: Introductionmentioning

confidence: 99%

Digital proportional‐derivative controller implemented in low‐resource microcontrollers

Jiménez-Ramírez

Cardenas-Valderrama

Ordonez-Sanchez

et al. 2020

Comp Applic In Engineering

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“…Quadrotors have been successfully used in applications such as tracking-of-moving objects, road traffic management, monitoring of power transmission lines, surveillance and reconnaissance, teaching tools and supplying medicines, and essential things in calamities such as earthquakes, floods, and industrial accidents. [1][2][3][4][5][6] Quadrotors are unmanned air vehicles actuated by two pairs of electromechanical actuators (motors) rotating in opposite directions as shown in Figure 1. These four rotating motors produce rotational and translational motion causing control in six-degrees-of-freedom (6-DOF) response and, hence, is an underactuated system.…”

Section: Introductionmentioning

confidence: 99%

Quaternion-based position control of a quadrotor unmanned aerial vehicle using robust nonlinear third-order sliding mode control with disturbance cancellation

Sanwale

Trivedi²,

Kothari

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part G:

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In this paper, we propose a robust nonlinear position and attitude control method for quadrotor using higher order sliding mode control concept. The control of quadrotor is realized in an inner- and outer-loop structure. Both inner- (attitude control) and outer (position control)-loop controllers are synthesized using third-order sliding mode control. The attitude control is designed in a quaternion framework to avoid gimbal lock and for better computational efficiency. A low-pass filter is used to reduce the effect of chattering in higher order sliding mode. A disturbance observer is designed for disturbance estimation. The robustness of proposed control method is ensured by providing the disturbance compensation term in the control law. Lyapunov stability analysis is provided for both inner- and outer-loop controls. Numerical results show that the proposed method provides effective control solution under continuous disturbance/uncertainties due to unmodeled dynamics, parameter variations, and external disturbance with high position accuracy.

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“…The graphical user interface (GUI) is presented as an educational tool to provide the user with interactive visual communication with the tasks required. The GUI can give the student a way to solve problems more efficiently, as shown by related works [22][23][24][25][26]. The GUI environment keeps most of the tedious and repetitive calculations in the background, allowing the user to spend more time analysing the results.…”

Section: Introductionmentioning

confidence: 99%

Graphical interface as a teaching aid for nonlinear dynamical systems

et al. 2018

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Chaos theory is an important breakthrough in understanding nonlinear dynamical systems. It is generally accepted that chaotic systems involve transitivity, a high density of periodic points in metric space, and extreme sensitivity to changes in initial conditions. Many systems taught on undergraduate courses satisfy these conditions, such as electronic circuits or computer simulations of nonlinear dynamical systems. However, a good understanding of these concepts is broadly difficult to achieve on such courses, and especially so at the undergraduate level. In view of this, we have developed an interactive standalone graphical user interface, which is platform-independent. The interface didactically simulates six chaotic systems. It allows the user to study a particular system without prior knowledge of computer programming, demonstrating rich dynamical behaviour such as fixed points, periodic cycles and deterministic chaos. At the same time, the interface provides details of the simulation and the parameters used, as well as some of the leading references. We provide the complete code and a detailed installation guide, which should make it easy to use the interface reliably and with little overhead work. We also provide a comparison with other available software for reference, and as a guide to readers who would like to explore this fascinating subject in more depth or with alternative approaches. Lastly, we present the results of a survey

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Teaching Tool for a Control Systems Laboratory Using a Quadrotor as a Plant in MATLAB

Cited by 52 publications

References 32 publications

Digital proportional‐derivative controller implemented in low‐resource microcontrollers

Digital proportional‐derivative controller implemented in low‐resource microcontrollers

Quaternion-based position control of a quadrotor unmanned aerial vehicle using robust nonlinear third-order sliding mode control with disturbance cancellation

Graphical interface as a teaching aid for nonlinear dynamical systems

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