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Design and Implementation of a Robust 6-DOF Quadrotor Controller Based on Kalman Filter for Position Control

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Mobile Robot: Motion Control and Path Planning

Part of the book series: Studies in Computational Intelligence ((SCI,volume 1090))

Abstract

The objective of this chapter is to develop quadcopter flight control algorithms using a PID controller enhanced by a Kalman Filter (KF) using an experimental approach to extract the physical and aerodynamic settings of the quadcopter. It is first necessary to present the current state of the quadcopter analytical dynamics model in order to achieve an effective design. A second step involves the development of the quadcopter’s hardware and software, as well as the development of a full thrust test rig to extract the parameters of the propulsion system and the linearisation approximations between the different variables. Using the quadcopter’s 6-DOF analytical dynamic model, the controller’s control parameters are determined using a PID design enhanced with KF. Test results were assessed using dynamic response curves and 3D Matlab visualisations. In order to evaluate the performance of the PID controllers, we measured the time response, overshoot, and settling time with and without the KF. After the SIMULINK model’s results for the drone were accepted, a C++ code was produced. Uploading the generated code into the Pixhawk autopilot was accomplished through a Simulink application in the autopilot firmware. Based on the Pixhawk autopilot, we present a quick and real-time test solution for drone controllers. Further enhancements are provided by near-real-time tuning of the control settings. This research uses the Embedded Coder Tool to develop SIMULINK-generated code for the Pixhawk autopilot board.

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Acknowledgements

The authors would like to thank Prince Sultan University, Riyadh, Saudi Arabia for supporting this work. Special acknowledgement to Automated Systems and Soft Computing Lab (ASSCL), Prince Sultan University, Riyadh, Saudi Arabia.

Author information

Authors and Affiliations

  1. College of Science and Engineering, University of Derby, Derby, UK

    Amar Bousbaine

  2. University of Derby, Derby, UK

    Abdelkader Fareha & Ajay K. Josaph

  3. Department of Electrical Engineering, University Akli Mohand Oulhadj-Bouria, Rue Drissi Yahia Bouira, 10000, Algeria

    Arezki Fekik

  4. Electrical Engineering Advanced Technology Laboratory (LATAGE), Mouloud Mammeri University, Tizi Ouzou, Algeria

    Arezki Fekik, Riad Moualek, Nabil Benyahia & Nacereddine Benamrouche

  5. College of Computer and Information Sciences, Prince Sultan University, Riyadh, 11586, Saudi Arabia

    Ahmad Taher Azar

  6. Automated Systems and Soft Computing Lab (ASSCL), Prince Sultan University, Riyadh, 11586, Saudi Arabia

    Ahmad Taher Azar

  7. Faculty of Computers and Artificial Intelligence, Benha University, Benha, 13518, Egypt

    Ahmad Taher Azar

  8. Faculty of Engineering, Cairo University, Giza, Egypt

    Nashwa Ahmad Kamal

  9. Department of Computer Science and Engineering, Edge Hill University, Ormskirk, UK

    Ammar K. Al Mhdawi

  10. Robotics and Autonomous Systems Group (RAS). Automated Systems and Soft Computing Lab (ASSCL), Prince Sultan University, Riyadh, Saudi Arabia

    Ammar K. Al Mhdawi

  11. Control and Systems Engineering Department, University of Technology, Baghdad, Iraq

    Amjad J. Humaidi

  12. Department of Computer Techniques Engineering, Dijlah University College, Baghdad, 10001, Iraq

    Ibraheem Kasim Ibraheem

Authors
  1. Amar Bousbaine
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  2. Abdelkader Fareha
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  3. Ajay K. Josaph
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  4. Arezki Fekik
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  5. Ahmad Taher Azar
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  6. Riad Moualek
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  7. Nabil Benyahia
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  8. Nacereddine Benamrouche
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  9. Nashwa Ahmad Kamal
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  10. Ammar K. Al Mhdawi
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  11. Amjad J. Humaidi
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  12. Ibraheem Kasim Ibraheem
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Corresponding author

Correspondence to Arezki Fekik .

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Editors and Affiliations

  1. Faculty of Computers and Artificial Intelligence, Benha University, Benha, Egypt

    Ahmad Taher Azar

  2. Electrical Engineering Department, University of Baghdad, College of Engineering, Baghdad, Iraq

    Ibraheem Kasim Ibraheem

  3. University of Technology, Baghdad, Iraq

    Amjad Jaleel Humaidi

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Bousbaine, A. et al. (2023). Design and Implementation of a Robust 6-DOF Quadrotor Controller Based on Kalman Filter for Position Control. In: Azar, A.T., Kasim Ibraheem, I., Jaleel Humaidi, A. (eds) Mobile Robot: Motion Control and Path Planning. Studies in Computational Intelligence, vol 1090. Springer, Cham. https://doi.org/10.1007/978-3-031-26564-8_11

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