Nurul Dayana Salim's research while affiliated with Universiti Teknologi Malaysia and other places
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Publications (13)
This paper proposes an image-based robust hovering controller for multirotor micro aerial vehicles (MAVs) in GPS-denied environments. The proposed controller is robust against the effects of multiple uncertainties in angular dynamics of vehicle which contain external disturbances, nonlinear dynamics, coupling, and parametric uncertainties. Based on...
This article proposes a new practical robust attitude state feedback controller of a low-cost hexarotor micro aerial vehicle under the effects of noise in angular velocity measurements and multiple uncertainties (called the equivalent disturbance), which consist of external time-varying wind disturbance, nonlinear dynamics, coupling and parametric...
This paper proposes a robust optimal attitude control design for multiple-input, multiple-output (MIMO) uncertain hexarotor micro aerial vehicles (MAVs) in the presence of parametric uncertainties, external time-varying disturbances, nonlinear dynamics, and coupling. The parametric uncertainties, external time-varying disturbances, nonlinear dynami...
This paper proposes a robust optimal attitude control design for hexarotor unmanned aerial vehicles (UAVs) under the effects of uncertainties which consist of external disturbances, nonlinear dynamics, coupling, and parametric uncertainties. The proposed optimal control is designed for pitch, roll, and yaw subsystems and it consists of a nominal op...
This paper proposes an image-based robust hovering control for multirotor aerial robot under the effects of uncertainties in the vehicle dynamics which contain external disturbances, nonlinear dynamics, coupling, and parametric uncertainties. The proposed image-based control capable to control the pose (position and orientation) of the aerial robot...
This paper proposes a robust attitude tracking control scheme for hexarotor micro aerial vehicles (MAVs) under the effects of uncertainties (equivalent disturbances) which consist of external disturbances, nonlinear dynamics, coupling, and parametric uncertainties. The proposed scheme is easy to be implemented compared to other robust controller te...
This paper describes modeling, attitude estimation, attitude control, and altitude control for Hexarotor micro aerial vehicle (MAV). Hexarotor has high potential to carry more payload and high maneuverability compared to quadrotor. This paper proposes a new approach for attitude estimation in realtime system by using a nonlinear complementary obser...
This paper proposes a practical robust attitude controller for uncertain hexarotor micro aerial vehicles (MAVs). The proposed robust controller consists of a nominal linear time-invariant controller and a robust compensator for pitch, roll, and yaw subsystems. The nominal controller is an inner-outer loop structure of PI+PID (proportional-integral...
Citations
... The complementary filter [23] passes the accelerometer and the magnetometer signals through a low-pass filter and the gyroscope signals through a high-pass filter and combines them for attitude calculation. As a significant advantage, the complementary filter uses relatively simple algorithm, which only requires less computation and is easy to implement [24]. Such a feature makes it preferred for embedded systems such as attitude estimation of drones. ...
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... Por otra parte, en[2]se presenta un controlador por Modos Deslizantes y un controlador no-lineal H para estabilizar el movimiento rotacional de un Quad-Rotor en presencia de perturbaciones aerodinámicas e incertidumbre en el modelo. Sin embargo, dicho controlador presenta la desventaja del excesivo costo computacional que requiere encontrar la solución de una ecuación diferencial parcial de Hamilton-Jacobi-Isaacs. En[11]se propone el diseño de un control de inclinación robusto y óptimo para un Hexa-Rotor con incertidumbre paramétrica y perturbaciones externas. Dicho controlador se compone de la combinación de un control LQR y un observador de perturbaciones. ...
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... It is a six rotors nonlinear system than can be operated like a helicopter, but it is more secure than a UAV fixed wing. Like a helicopter, it is capable to do vertical take-off and landing (VTOL) and can fly at low altitudes [1,2]. The common application of hexacopter includes surveillance, military needs, monitoring purposes, search and rescue operations and mobile sensor networks [1]. ...
... Hekzakopter yörünge izleme problemini çözmek için, [3] çalışmasında doğrusal olmayan gürbüz ve adaptif geri adımlamalı denetim stratejisi hiyerarşik olarak önerilmektedir. Derawi ve diğerleri [4] çalışmasında gürültü ve belirsizliklerin yönelim üzerindeki etkisini azaltmak için gürbüz durum geri-beslemeli denetleyici geliştirmiştir. Oransal-İntegral-Türevsel (PID) denetleyicisi hekzakopterin yörünge takibi için [5] çalışmasında sunulmuştur. ...
... Derawi et al. [66,67], Poksawat et al. [68] and Zheng et al. [69] present the mathematical modelling, estimation, attitude (drone position) control and altitude control of a hexacopter. Their works present the following contributions: First, mathematical modelling is performed, based on which the equations of the hexacopter model are obtained. ...
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... As a consequence, a wide variety of control strategies have been proposed for the problem of trajectory tracking for hexacopters. Initially, some linear control methods were presented, and these works considered small angles' assumptions that are necessary for linear control techniques, and the most common structures were presented by Alaimo et al., who developed a proportional-integral and derivative controller (PID) under linear assumptions in UAVs with an hexacopter configuration [26] and Salim et al. presented optimum linear control that stabilizes the attitude of a micro-hexacopter in indoor environments [27]. ...
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... In addition, research on multirotor previously focus mainly on the multirotor control issue. Due to the two extra rotors, the torque of the hexarotor around each axis differs from the quadrotors, and consequently affects the dynamical reaction differently [6,7]. As a result, multirotor mathematical modeling is critical for both mechanical and electronic systems to address its stability analysis and controller design issues. ...
