Papers by Nurulasikin Mohd Suhadis
This paper presents an optimization algorithm named Random Explosion Algorithm (REA). The fundame... more This paper presents an optimization algorithm named Random Explosion Algorithm (REA). The fundamental idea of this algorithm is based on a simple concept of the explosion of an object. This object is commonly known as a particle: when exploded, it will randomly disperse fragments around the particle within the explosion radius. The fragment that will be considered as a search agent will fill the local space and search that particular region for the best fitness solution. The proposed algorithm was tested on 23 benchmark test functions, and the results are validated by a comparative study with eight well-known algorithms, which are Particle Swarm Optimization (PSO), Artificial Bee Colony (ABC), Genetic Algorithm (GA), Differential Evolution (DE), Multi-Verse Optimizer (MVO), Moth Flame Optimizer (MFO), Firefly Algorithm (FA), and Sooty Tern Optimization Algorithm (STOA). After that, the algorithm was implemented and analyzed for a quadrotor control application. Similarly, a comparati...
The active magnetic attitude control technique is a promising attitude control option for small s... more The active magnetic attitude control technique is a promising attitude control option for small satellites operated in Low Earth Orbit (LEO). It is accomplished using sets of magnetic torquer that can generate a mechanical torque thus producing control actions when the torquers interact with the geomagnetic field. The magnetic attitude control structure can be developed based only on the magnetic torquers or in conjunction with other actuators. The purpose of this thesis is to develop and evaluate the options for the active magnetic attitude control system of low-cost small satellite missions. Three options of control algorithms have been developed for a gravity-gradient satellite and a momentum bias satellite. The first algorithm is structured for the gravity-gradient satellite employing three magnetic torquers onboard (Option A). The algorithm has been configured for controlling roll, pitch and yaw attitudes using a proportional-derivative (PD) controller. The second and the third...
In this paper, the active magnetic control technique is applied for controlling the attitude and ... more In this paper, the active magnetic control technique is applied for controlling the attitude and nutation of roll/yaw ares as well as unloading the excess wheel angular momentum for a small biased-momentum satellite in a nominal operation. Two control structures are configured using 2 and 3 magnetic torquers. The proportional controller is used for the attitude and nutation control of roll/yaw ares while the proportional-integral controller is used for the wheel momentum unloading task Both systems are evaluated through numerical treatments and compared particularly during the momentum unloading process. The performance from simulations exhibits that both systems fulfill the mission requirements. However, the system that uses 3 magnetic lorquers gives a better attitude performance.
Applied Sciences
A hybrid proportional double derivative and linear quadratic regulator (PD2-LQR) controller is de... more A hybrid proportional double derivative and linear quadratic regulator (PD2-LQR) controller is designed for altitude (z) and attitude (roll, pitch, and yaw) control of a quadrotor vehicle. The derivation of a mathematical model of the quadrotor is formulated based on the Newton–Euler approach. An appropriate controller’s parameter must be obtained to obtain a superior control performance. Therefore, we exploit the advantages of the nature-inspired optimization algorithm called Grey Wolf Optimizer (GWO) to search for those optimal values. Hence, an improved version of GWO called IGWO is proposed and used instead of the original one. A comparative study with the conventional controllers, namely proportional derivative (PD), proportional integral derivative (PID), linear quadratic regulator (LQR), proportional linear quadratic regulator (P-LQR), proportional derivative and linear quadratic regulator (PD-LQR), PD2-LQR, and original GWO-based PD2-LQR, was undertaken to show the effective...
Automatika
A quadcopter control system is a fundamentally difficult and challenging problem because its dyna... more A quadcopter control system is a fundamentally difficult and challenging problem because its dynamics modelling is highly nonlinear, especially after accounting for the complicated aerodynamic effects. Plus, its variables are highly interdependent and coupled in nature. There are six controllers studied and analysed in this work which are (1) Proportional-Integral-Derivative (PID), (2) Proportional-Derivative (PD), (3) Linear Quadratic Regulator (LQR), (4) Proportional-Linear Quadratic Regulator (P-LQR), (5) Proportional-Derivative-Linear Quadratic Regulator (PD-LQR) and lastly (6) the proposed controller named Proportional-Double Derivative-Linear Quadratic Regulator (PD2-LQR) controller. The altitude control and attitude stabilization of the quadcopter have been investigated using MATLAB/Simulink software. The mathematical model of the quadcopter using the Newton-Euler approach is applied to these controllers has illuminated the attitude (i.e. pitch, yaw, and roll) and altitude motions of the quadcopter. The simulation results of the proposed PD2-LQR controller have been compared with the PD, PID, LQR, P-LQR, and PD-LQR controllers. The findings elucidated that the proposed PD2-LQR controller significantly improves the performance of the control system in almost all responses. Hence, the proposed PD2-LQR controller can be applied as an alternative controller of all four motions in quadcopters.
INCAS BULLETIN
Rotor-craft style UAV, such as the quadrotor, has become increasingly popular with researchers du... more Rotor-craft style UAV, such as the quadrotor, has become increasingly popular with researchers due to its advantages over fixed-wing UAV. The quadrotor is highly maneuverable, can perform vertical take-off and landing (VTOL), and can hover flight capability. Nevertheless, handling the quadrotor complex, highly nonlinear dynamics is difficult and challenging. A suitable control system is needed to control the quadrotor system effectively. Therefore, this paper presents a review of different controller design techniques used by researchers over the past years for the quadrotor rotational and translational stabilization control. Three categories are discussed: linear controller, nonlinear controller, and intelligent controller. Based on their performance specifications, the system rise time, settling time, overshoot, and steady-state error are discussed. Finally, a comparative analysis is tabulated, summarizing the literature in the performance specifications described above.
Applied Mechanics and Materials, Feb 13, 2014
This paper presents the experimental determination of the moment of inertia of USM e-UAV by using... more This paper presents the experimental determination of the moment of inertia of USM e-UAV by using pendulum method. Compound pendulum experiment is used to determine the moment of inertia about x and y axes while the moment of inertia about z-axis is determined using bifilar torsion pendulum method. An experimental setup is developed with appropriate dimension to accommodate USM e-UAV. Experimental data are presented and discussed.
Applied Mechanics and Materials
In this paper, the Proportional-Derivative (PD) based attitude control algorithm of the gravity g... more In this paper, the Proportional-Derivative (PD) based attitude control algorithm of the gravity gradient stabilized satellite has been developed. The satellite is equipped with 3 magnetic torquers where each of the magnetic torquer is placed along the +x, +y, +z axes. The control torque is generated when the magnetic field generated by the magnetic torquers couples with the geomagnetic fields, whereby the vector of the generated torque is perpendicular to both the magnetic fields. The developed control algorithm was simulated using the complex and simplified geomagnetic field models for a Low Earth Orbit (LEO) satellite mission in a nominal attitude operation. Results from simulations exhibit the effectiveness of the attitude control torque generation that fulfills the mission attitude control requirements.
International Review of Aerospace Engineering
ABSTRACT
Aircraft Engineering and Aerospace Technology
Purpose This paper aims to investigate the attitude control pointing improvement for a small sate... more Purpose This paper aims to investigate the attitude control pointing improvement for a small satellite with control moment gyroscopes (CMGs) using the active force control (AFC) method. Design/methodology/approach The AFC method is developed with its governing equations and integrated into the conventional proportional-derivative (PD) controller of a closed-loop satellite attitude control system. Two numerical simulations of an identical attitude control mission namely the PD controller and the PD+AFC controller were carried out using the MATLAB®-SimulinkTM software and their attitude control performances were demonstrated accordingly. Findings Having the PD+AFC controller, the attitude maneuver can be completed within the desired slew rate, which is about 2.14 degree/s and the attitude pointing accuracies for the roll, pitch and yaw angles have improved significantly by more than 85% in comparison with the PD controller alone. Moreover, the implementation of the AFC into the conven...
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Papers by Nurulasikin Mohd Suhadis