Adptive neural controller for attitude stabilization of quadrotor unmanned aerial vehicle (UAV)

Abstract

In line with the rapid development of the world science and technology, our country has matured in the exploration of new knowledge. Our country has given the very bright opportunity in an engineering field. The researchers intend to produce a useful technology to the community. Now on, air to space technology become famous for them, especially in the unmanned aerial vehicle (UAV) area. Therefore, this thesis also will present the development of an UAV that uses a new concept named quadrotor which are a combination of helicopter and airplane. This quadrotor capable of takeoff and landing vertically like a helicopter and can maneuver like an airplane. Quadrotor built with a fourrotor placed symmetrically like an added shape, Electronic Speed Controller (ESC), Inertial Measurement Unit (IMU) sensor and a Lithium Polymer (Li-Po) battery. Simple configuration causes quadrotor preferred used as unmanned vehicles. Quadrotor movement is controlled by the thrust produced by the four-rotor which means to move quadrotor the four rotor speed must be controlled independently. The rotor can be controlled separately through the programming provided in the control system. The main problem faced is to control the quadrotor attitude during flight time. Adaptive Neural Controller (ANC) is used to control the quadrotor attitude. This system was adopted because it can respond quickly and accurately following the reference model. Before that, the quadrotor kinematic and dynamic analysis must be done. Through the analysis, we can determine quadrotor modeling. Modeling quadrotor used to find the quadrotor plant so that the system will be able to identify the quadrotor characteristics. Constant parameters are getting from calculation and experimental test used in quadrotor modeling. Simulation tests carried out using Matlab software to find quadrotor stability in roll, pitch and yaw axis. After the controller gives a good response in simulation, the code converts into C programming and implement in the microcontroller and should synchronize with the hardware configuration. The actual test flights conducted in an indoor to test for stability. Disturbance test also will be conducted. For the future development several of sensors will be added to increase the ability quadrotor to fly autonomously without any guidance from the ground station and also human.