Attitude control with a region-based method for an unmanned aerial vehicle

Mohd Bazli M. Mokhar; Zool H. Ismail; Mohamad Yani; Matthew W. Dunnigan

doi:10.1109/ASCC.2015.7244837

Attitude control with a region-based method for an unmanned aerial vehicle

Mohd Bazli M. Mokhar
, Zool H. Ismail
, Mohamad Yani
, Matthew W. Dunnigan

School of Engineering & Physical Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

This paper presents dynamic inversion control with a region control method. Dynamic inversion control is chosen to deal with the strong coupling effect present in an underactuated aerial vehicle (quadrotor). Dynamic inversion is effective in both linear and nonlinear control whilst the region control method is a method that can reduce the energy consumption of the quadrotor. Numerical simulations are presented to demonstrate the effectiveness of the proposed controller.

Original language	English
Title of host publication	2015 10th Asian Control Conference
Subtitle of host publication	Emerging Control Techniques for a Sustainable World, ASCC 2015
Editors	Hazlina Selamat, Hafiz Rashidi Haruna Ramli, Ahmad Athif Mohd Faudzi, Ribhan Zafira Abdul Rahman, Asnor Juraiza Ishak, Azura Che Soh, Siti Anom Ahmad
Publisher	IEEE
ISBN (Electronic)	9781479978625
DOIs	https://doi.org/10.1109/ASCC.2015.7244837
Publication status	Published - 8 Sept 2015
Event	10th Asian Control Conference 2015 - Kota Kinabalu, Malaysia Duration: 31 May 2015 → 3 Jun 2015

Publication series

Name	2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015

Conference

Conference	10th Asian Control Conference 2015
Abbreviated title	ASCC 2015
Country/Territory	Malaysia
City	Kota Kinabalu
Period	31/05/15 → 3/06/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

coupling effect
dynamic inversion control
quadrotor
region-based method
underactuated

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/ASCC.2015.7244837

Cite this

Mokhar, M. B. M., Ismail, Z. H., Yani, M., & Dunnigan, M. W. (2015). Attitude control with a region-based method for an unmanned aerial vehicle. In H. Selamat, H. R. H. Ramli, A. A. M. Faudzi, R. Z. A. Rahman, A. J. Ishak, A. C. Soh, & S. A. Ahmad (Eds.), 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015). IEEE. https://doi.org/10.1109/ASCC.2015.7244837

Mokhar, Mohd Bazli M. ; Ismail, Zool H. ; Yani, Mohamad et al. / Attitude control with a region-based method for an unmanned aerial vehicle. 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. editor / Hazlina Selamat ; Hafiz Rashidi Haruna Ramli ; Ahmad Athif Mohd Faudzi ; Ribhan Zafira Abdul Rahman ; Asnor Juraiza Ishak ; Azura Che Soh ; Siti Anom Ahmad. IEEE, 2015. (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015).

@inproceedings{dfd10879878840d0b40f3730794603a6,

title = "Attitude control with a region-based method for an unmanned aerial vehicle",

abstract = "This paper presents dynamic inversion control with a region control method. Dynamic inversion control is chosen to deal with the strong coupling effect present in an underactuated aerial vehicle (quadrotor). Dynamic inversion is effective in both linear and nonlinear control whilst the region control method is a method that can reduce the energy consumption of the quadrotor. Numerical simulations are presented to demonstrate the effectiveness of the proposed controller.",

keywords = "coupling effect, dynamic inversion control, quadrotor, region-based method, underactuated",

author = "Mokhar, \{Mohd Bazli M.\} and Ismail, \{Zool H.\} and Mohamad Yani and Dunnigan, \{Matthew W.\}",

year = "2015",

month = sep,

day = "8",

doi = "10.1109/ASCC.2015.7244837",

language = "English",

series = "2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015",

publisher = "IEEE",

editor = "Hazlina Selamat and Ramli, \{Hafiz Rashidi Haruna\} and Faudzi, \{Ahmad Athif Mohd\} and Rahman, \{Ribhan Zafira Abdul\} and Ishak, \{Asnor Juraiza\} and Soh, \{Azura Che\} and Ahmad, \{Siti Anom\}",

booktitle = "2015 10th Asian Control Conference",

address = "United States",

note = "10th Asian Control Conference 2015, ASCC 2015 ; Conference date: 31-05-2015 Through 03-06-2015",

}

Mokhar, MBM, Ismail, ZH, Yani, M & Dunnigan, MW 2015, Attitude control with a region-based method for an unmanned aerial vehicle. in H Selamat, HRH Ramli, AAM Faudzi, RZA Rahman, AJ Ishak, AC Soh & SA Ahmad (eds), 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015, IEEE, 10th Asian Control Conference 2015, Kota Kinabalu, Malaysia, 31/05/15. https://doi.org/10.1109/ASCC.2015.7244837

Attitude control with a region-based method for an unmanned aerial vehicle. / Mokhar, Mohd Bazli M.; Ismail, Zool H.; Yani, Mohamad et al.
2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. ed. / Hazlina Selamat; Hafiz Rashidi Haruna Ramli; Ahmad Athif Mohd Faudzi; Ribhan Zafira Abdul Rahman; Asnor Juraiza Ishak; Azura Che Soh; Siti Anom Ahmad. IEEE, 2015. (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Attitude control with a region-based method for an unmanned aerial vehicle

AU - Mokhar, Mohd Bazli M.

AU - Ismail, Zool H.

AU - Yani, Mohamad

AU - Dunnigan, Matthew W.

PY - 2015/9/8

Y1 - 2015/9/8

N2 - This paper presents dynamic inversion control with a region control method. Dynamic inversion control is chosen to deal with the strong coupling effect present in an underactuated aerial vehicle (quadrotor). Dynamic inversion is effective in both linear and nonlinear control whilst the region control method is a method that can reduce the energy consumption of the quadrotor. Numerical simulations are presented to demonstrate the effectiveness of the proposed controller.

AB - This paper presents dynamic inversion control with a region control method. Dynamic inversion control is chosen to deal with the strong coupling effect present in an underactuated aerial vehicle (quadrotor). Dynamic inversion is effective in both linear and nonlinear control whilst the region control method is a method that can reduce the energy consumption of the quadrotor. Numerical simulations are presented to demonstrate the effectiveness of the proposed controller.

KW - coupling effect

KW - dynamic inversion control

KW - quadrotor

KW - region-based method

KW - underactuated

UR - https://www.scopus.com/pages/publications/84957674326

U2 - 10.1109/ASCC.2015.7244837

DO - 10.1109/ASCC.2015.7244837

M3 - Conference contribution

AN - SCOPUS:84957674326

T3 - 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015

BT - 2015 10th Asian Control Conference

A2 - Selamat, Hazlina

A2 - Ramli, Hafiz Rashidi Haruna

A2 - Faudzi, Ahmad Athif Mohd

A2 - Rahman, Ribhan Zafira Abdul

A2 - Ishak, Asnor Juraiza

A2 - Soh, Azura Che

A2 - Ahmad, Siti Anom

PB - IEEE

T2 - 10th Asian Control Conference 2015

Y2 - 31 May 2015 through 3 June 2015

ER -

Mokhar MBM, Ismail ZH, Yani M, Dunnigan MW. Attitude control with a region-based method for an unmanned aerial vehicle. In Selamat H, Ramli HRH, Faudzi AAM, Rahman RZA, Ishak AJ, Soh AC, Ahmad SA, editors, 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. IEEE. 2015. (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015). doi: 10.1109/ASCC.2015.7244837

Attitude control with a region-based method for an unmanned aerial vehicle

Abstract

Publication series

Conference

UN SDGs

Keywords

ASJC Scopus subject areas

Access to Document

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