Experimental Studies of Adaptive Control to Stabilize the Automatic Unmanned Mini Quad Rotor Helicopter Position

Jalu A. Prakosa and Victor B. Vtorov

The automatic unmanned quad rotor helicopter will be the best massive logistic transportation in the future, particularly in archipelago country such Indonesia. A successful control of mini quad copter position stability as reference can easy to control the larger one. The difficulty to balance the center of gravity, unknown parameters and other uncertainties are the real problem to prefer an adaptive control method as choice for stabilizing thrust from each rotor. A homemade quad copter is built by microcontrollers as controller which ultrasonic and tilt sensors are used as vertical position feedback elements. The purpose of this research is to study experimentally the automatic mini quad rotor helicopter position stability when applying adaptive control method. The model reference adaptive control (MRAC) is applied which the relation of adjustable parameters and stability of vertical and angle position is investigated. It is established from the experiments, that the proportional control for all motor thrust is unable to stabilize the plant because it tends to be unstable and fly upside down. Because of adjustment mechanism, the thrust of each rotor is not uniform each other which change due to varying adjustable parameters to balance the position. Both angle and vertical flight positions must be used to build the reference model design. The proposed MRAC design by adjustment mechanism solution has successfully achieved asymptotic stability which can hover properly the quad copter plant.

Volume 11 | 04-Special Issue

Pages: 1983-1994