A hardware implementation of 6dof quadcopter matlab/simulink controller algorithm to an autopilot

Journal article


Amar, Bousbaine, Fareha, a and Joseph, A. K. 2021. A hardware implementation of 6dof quadcopter matlab/simulink controller algorithm to an autopilot. https://doi.org/10.1049/icp.2021.1078
AuthorsAmar, Bousbaine, Fareha, a and Joseph, A. K.
Abstract

This paper presents a hardware implementation of Control algorithm for 6DOF Quadcopter developed on MATLAB/SIMULINK to an autopilot Microcontroller (PIXHAWK) using MATLAB/SIMULINK Embedded Coder. After the validation of the SIMULINK model controller results through the software simulation, the designed controller is converted into C\C++ and uploaded into the Pixhawk autopilot by creating SIMULINK application in the autopilot firmware. This paper presents a rapid and real test solution for quadcopter control system using Pixhawk autopilot which will provide further real adjustment for the control parameters. This feature is used in this research is to deploy the SIMULINK codes into the Pixhawk autopilot board through the Embedded Coder Tool.

Keywordscontrol engineering computing; autonomous aerial vehicles; embedded systems; control system synthesis
Year2021
PublisherInstitution of Engineering and Technology
Digital Object Identifier (DOI)https://doi.org/10.1049/icp.2021.1078
Web address (URL)http://hdl.handle.net/10545/625965
hdl:10545/625965
Publication datesJan 2021
Publication process dates
Deposited03 Sep 2021, 08:08
AcceptedApr 2020
ISBN9781839535420
ContributorsUniversity of Derby
File
File Access Level
Open
File
File Access Level
Open
Permalink -

https://repository.derby.ac.uk/item/930yq/a-hardware-implementation-of-6dof-quadcopter-matlab-simulink-controller-algorithm-to-an-autopilot

Download files

  • 407
    total views
  • 183
    total downloads
  • 0
    views this month
  • 0
    downloads this month

Export as

Related outputs

Dynamic characterisation of a linearised transfer function of non-ideal buck converters
Wilson, D., Bousbaine, A. and Wiggins, B. 2024. Dynamic characterisation of a linearised transfer function of non-ideal buck converters. 13th International Conference on Power Electronics, Machines and Drives (PEMD 2024). IEEE. https://doi.org/10.1049/icp.2024.2197
Hardware Implementation of a Solar-Powered Buck-Boost Converter for Enhanced Cathodic Protection Using Texas Instruments C2000 Board
Fekik, A., Mahdal, M., Hamida, M. L., Ghanes, M., Vaidyanathan, S., Denoun, H. and Bousbaine, A. 2024. Hardware Implementation of a Solar-Powered Buck-Boost Converter for Enhanced Cathodic Protection Using Texas Instruments C2000 Board. IEEE Access. 12, pp. 74831 - 74842. https://doi.org/10.1109/ACCESS.2024.3403207
Optimizing DC Microgrid Systems for Efficient Electric Vehicle Battery Charging in Ain El Ibel, Algeria
Younes, B., Ait Abbas, H., Bousbaine, A., Fergani, O. and Mazari, A. 2024. Optimizing DC Microgrid Systems for Efficient Electric Vehicle Battery Charging in Ain El Ibel, Algeria. International Journal of Engineering. 37 (10), pp. 1891-1900. https://doi.org/https://doi.org/10.5829/ije.2024.37.10a.03
A Design and Implementation of a New Control Based on Petri Nets for Three Phase PWM-Rectifier
Fekik, A., Hamida, M. L., Kais, D., Khati, H., Bousbaine, A. and Denoun, H. 2023. A Design and Implementation of a New Control Based on Petri Nets for Three Phase PWM-Rectifier. International Journal of Service Science, Management, Engineering, and Technology. 14 (1), pp. 1-33. https://doi.org/10.4018/IJSSMET.326801
Hybrid multi power sources PEMFC/battery/supercapacitor real time setup energy conversion system
Bousbaine, A., Moualek, R., Benamrouch, N. and Benyahia, N. 2023. Hybrid multi power sources PEMFC/battery/supercapacitor real time setup energy conversion system. International Journal of Power Electronics and Drive Systems. 14 (3), pp. 1-11. https://doi.org/10.11591/ijpeds.v14.i3.pp1844-1854
Modeling and Simulation of Quadcopter Using Self-tuning Fuzzy-PI Controller
Fekik, A., Azar, A. T., Hamida, M. L., Denoun, H., Mohandsaidi, S., Bousbaine, A., Kamal, N. A., Ibraheem, I. K., Humaidi, A. J., Al Mhdawi, A. K. and Khamis, A. 2023. Modeling and Simulation of Quadcopter Using Self-tuning Fuzzy-PI Controller. in: Azar, A. T., Ibraheem, I. K. and Humaidi, A. J. (ed.) Mobile Robot: Motion Control and Path Planning New York Springer. pp. 231-251
Design and Implementation of a Robust 6-DOF Quadrotor Controller Based on Kalman Filter for Position Control
Bousbaine, A., Fareha, A., Josaph, A. K., Fekik, A., Azar, A. T., Moualek, R., Benyahia, N., Benamrouche, N., Kamal, N. A., Al Mhdawi, A. K., Humaidi, A. J. and Ibraheem, I. K. 2023. Design and Implementation of a Robust 6-DOF Quadrotor Controller Based on Kalman Filter for Position Control. in: Azar, A. T., Ibraheem, I. K. and Humaidi, A. J. (ed.) Mobile Robot: Motion Control and Path Planning New York Springer. pp. 331-363
Battery - Ultracapacitor Energy Storage System Set Up Control through Fuzzy Logic Algorithm
Bousbaine, A., Moualek, R. and Benamrouche, N. 2023. Battery - Ultracapacitor Energy Storage System Set Up Control through Fuzzy Logic Algorithm. Third Conference on Electrical Engineering .
Sliding Mode Control of the PUMA 560 Robot
Fekik, A, Azar, T. A, Hamida, L.M., Denoun, H., Kais, D., Saidi, S. M., Bousbaine, A., Kamal, N. A., Mhdawi, A. K. A. and Njima, C. B. 2023. Sliding Mode Control of the PUMA 560 Robot. 2023 International Conference on Control, Automation and Diagnosis (ICCAD). IEEE Xplore. https://doi.org/10.1109/ICCAD57653.2023.10152456
Multilevel Inverter for Hybrid Fuel Cell/PV Energy Conversion System
Fekik, Arezki, Hamida, Mohamed Lamine, Denoun, Hakim, Azar, Ahmad Taher, Kamal, Nashwa Ahmad, Amar, Bousbaine and Benamrouche, Nacereddine 2022. Multilevel Inverter for Hybrid Fuel Cell/PV Energy Conversion System. in: Advances in Environmental Engineering and Green Technologies IGI Global.
Simulink model for a hydrogen PEM fuel cell for automotive applications
Bousbaine, a, Wilson, d and Andrade, j 2021. Simulink model for a hydrogen PEM fuel cell for automotive applications. Institution of Engineering and Technology. https://doi.org/10.1049/icp.2021.1176
Control strategies of a gas turbine generator: a comparative study
Abbassen, Lyes, Zaouia, Mustapha, Benamrouche, Nacereddine and Bousbaine, Amar 2020. Control strategies of a gas turbine generator: a comparative study. Indonesian Journal of Electrical Engineering and Informatics (IJEEI). https://doi.org/10.11591/ijeei.v8i4.2100
Development of a novel 5kW/42V intelligent converter for automotive applications
Amar, Bousbaine and Eljarh, M 2012. Development of a novel 5kW/42V intelligent converter for automotive applications. IET. https://doi.org/10.1049/cp.2012.0313
A practical project approach for teaching experimental power electronics
Amar, Bousbaine and Eljarh, Mohamed 2011. A practical project approach for teaching experimental power electronics. VDE.
Experimental characterisation of quad rotor controller based on Kalman Filter
Fareha, Abdelkader, Bousbaine, Dr. Amar, Josaph, Ajay K and Amar, Bousbaine 2018. Experimental characterisation of quad rotor controller based on Kalman Filter. IEEE. https://doi.org/10.1109/UPEC.2018.8541858
A Wireless communication system for a quadrotor helicopter
Joseph, Ajay K, Bousbaine, Amar, Fareha, Abdelkader and Amar, Bousbaine 2018. A Wireless communication system for a quadrotor helicopter. IEEE. https://doi.org/10.1109/UPEC.2018.8542040
A More Refined Thermal Model for a Totally Enclosed Fan-cooled Induction Motor
Amar, Bousbaine 2011. A More Refined Thermal Model for a Totally Enclosed Fan-cooled Induction Motor. Electric Power Components and Systems. https://doi.org/10.1080/15325008.2011.629334
Simulation and experimental investigation into a photovoltaic and fuel cell hybrid integration power system for a typical small house application
Djoudi, H, Benyahia, N, Badji, A, Bousbaine, Amar, Moualek, R, Aissou, S and Benamrouche, N 2021. Simulation and experimental investigation into a photovoltaic and fuel cell hybrid integration power system for a typical small house application. Electric Power Components and System. 48 (14/15), pp. 1-17. https://doi.org/10.1080/15325008.2020.1857471
Electro-Thermal Coupled Modeling of Induction Motor Using 2D Finite Element Method
Bousbaine, Amar, Bouheraoua, Mustapha, Atig, M. and Benamrouche, N 2021. Electro-Thermal Coupled Modeling of Induction Motor Using 2D Finite Element Method. Journal of Advances in Electrical and Computer Engineering. 21 (2), pp. 33 - 40. https://doi.org/10.4316/AECE.2021.02004
Experimental validation of fuel cell, battery and supercapacitor energy conversion system for electric vehicle applications
Moualek, R., Benyahia, N., Bousbaine, A. and Benamrouche, N. 2020. Experimental validation of fuel cell, battery and supercapacitor energy conversion system for electric vehicle applications. in: Springer Proceedings in Energy Springer Singapore.
Implementation of fuel cell and photovoltaic panels based DC micro grid prototype for electric vehicles charging station
Benyahia, N., Tamalouzt, S., Denoun, H., Badji, A., Bousbaine, A., Moualek, R. and Benamrouche, N. 2020. Implementation of fuel cell and photovoltaic panels based DC micro grid prototype for electric vehicles charging station. in: Springer Proceedings in Energy Springer Singapore.
Performances analysis of a micro-grid connected multi-renewable energy sources system associated with hydrogen storage
Tamalouzt, Salah, Benyahia, Nabil, Tounzi, Abdelmounaim and Bousbaine, Amar 2020. Performances analysis of a micro-grid connected multi-renewable energy sources system associated with hydrogen storage. in: Renewable Energy - Resources, Challenges and Applications IntechOpen.
Proton exchange membrane fuel cell modules for ship applications
Tamalouzt, S., Benyahia, N. and Bousbaine, A. 2020. Proton exchange membrane fuel cell modules for ship applications. Springer.
LQR controller design for quad-rotor helicopters.
E. Okyere, A. bousbaine, G. T. Poyi, A.K. Joseph and J.M. Andrade 2018. LQR controller design for quad-rotor helicopters. The Journal of Engineering..
Computational fluid dynamics model of a quad-rotor helicopter for dynamic analysis
Poyi, Gwangtim Timothy, Bousbaine, Amar and Wu, Mian Hong 2016. Computational fluid dynamics model of a quad-rotor helicopter for dynamic analysis. International Journal of Research in Engineering & Advanced Technology.
Design of Self-tuning PID Controller Parameters Using Fuzzy Logic Controller for Quad-rotor Helicopter
Bousbaine, Amar, Bamgbose, Abraham, Poyi, Gwangtim Timothy and Joseph, A. K. 2016. Design of Self-tuning PID Controller Parameters Using Fuzzy Logic Controller for Quad-rotor Helicopter. International Journal of Trend in Research and Development.
Computational fluid dynamics model of a quad-rotor helicopter for dynamic analysis
Poyi, Gwangtim Timothy, Wu, Mian Hong and Bousbaine, Amar 2016. Computational fluid dynamics model of a quad-rotor helicopter for dynamic analysis. IJREAT International Journal of Research in Engineering & Advanced Technology.
Modelling and simulation of a quad-rotor helicopter
Bousbaine, Amar, Wu, Mian Hong and Poyi, Gwangtim Timothy 2012. Modelling and simulation of a quad-rotor helicopter. https://doi.org/10.1049/cp.2012.0318
Validation of a quad-rotor helicopter matlab/simulink and solidworks models
Poyi, Gwangtim Timothy, Wu, Mian Hong, Bousbaine, Amar and Wiggins, Bruce 2013. Validation of a quad-rotor helicopter matlab/simulink and solidworks models.