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Abstract— Recently, research in Unmanned Aerial Vehicle guidance and control algorithms that ensure satisfactory
(UAV) field is growing rapidly due to their evolving needs in operation on the uncertainties environtment [6]. The controller
many implemented sectors. In this research, we use hexacopter design for hexacopter, is not a straightforward task, many
for monitoring contaminated chemical-radioactive-nuclear challenges arise because of highly nonlinear dynamics system.
(CRN ) area. The hexacopter need high altitude and attitude To verify and evaluate the designed control system without
stabilization to tracking way point precisely. The PID guidance real flight, simulating the flight processing on software system
system with FLC intervention is used to produce correction and vizualizing Hexacopter operations, SITL technique is
signal to improve the tracking performance of the hexacopter. needed to be perfomed [7].
Software in the loop (SITL) simulation using Matlab and
Robotic Operating System (ROS) was conducted to verify
Fuzzy-PID intervention guidance performance before
implementation. Based on simulation and experimental result,
it shown that the tracking performance of the hexacopter in
terms faster transient response, smaller error steay state, faster
settling time, better static and dynamics performance and
robust under wind disturbance for altitude and attitude have
been improved by using Fuzzy-PID intervention algorithm.
I. INTRODUCTION
Recently, research in Unmanned Aerial Vehicle (UAV)
Fig. 1. Scenario for monitoring contaminated chemical-
field is growing rapidly due to their evolving needs in many
radioaktive-nuclear (CRN) area
implemented sectors such as in military, surveillance,
meteorology, search, rescue and other fields where is too risky
for human exposure [1]. There continue to handle more Hexacopter need high precision tracking according to
complex missions, which are using more advanced method. required way point that must be achieved. Conceptually, fuzzy
One of them, the implementation in more complex and risky intervention give output signal correction for compensation
sector, is military and civilian application that surely need output signal of PID controller that not achieve reference [8].
more effort to achieve good performance. There are some In this paper, to make the Hexacopter UAV have excellent
difficulties in this application, for example hazardous static and dynamic characteristics, PID and Fuzzy method are
environments that containing some toxic substances combined. System Fuzzy logic controller is used to
contamination, extreme environments, and also some area that compensate for stability errors from PID guidance according
difficult reached by human. So they can be solved by to the wind disturbances in environtment condition, which can
designing collaboration some robots strategy for military make UAV more stable, robust from wind disturbance and
mission [2], that can board without human during complex better performance. The control system with wind disturbance
and risky mission. dynamics was simulated by using matlab-ROS and the result
of attitude and altitude stabilization performance was
In this paper, specifically, hexacopter is used for conducted with PID method that intervented with Fuzzy-PID
monitoring contaminated chemical-radioactive-nuclear method. We propose a platform for Fuzzy-PID intervention
(CRN) area. Unfortunately, the position and attitude of the control method that implemented on hexacopter UAV to
UAV may be changed by the air flow, body vibration, self- achieve way point tracking mission.
control accuracy and other uncertain factors [3]. Moreover,
the performance of wind resistant is significant for II. SYSTEM MODELING
practicability [4]. To achieve successful mission, it’s The Hexacopter UAV motion consists of three force and
important to stabilize the attitude and altitude of UAV for three moment component which form six Degree of Freedom
maintaining the desired orientation and for safety during flight (6 DoF). As the dynamics systems, six rotors speeds are the
[5]. systems input and position (x, y, z) and attitude (Φ, θ, Ψ) are
Successful control system for high performance UAV system outputs. The combination of rotor’s speed variation
requires efficient and effective teqniques for the design of generate some motions, such as: throttle, roll (rotation
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control Fuzzy-PID system that apply for each pitch, roll, yaw, TABLE III. THE OUTPUT VARIABLS BOUNDARIES AND FUZZY
INTERFACE
and altitude controller. In this paper, two steps were
investigated, which are applying two input : error and error
Altitude Roll Pitch Yaw
derivative than adding wind velocity as input. Therefore
UAV performance can be shown in under wind disturbance NB -62.5 -160 -160 -347.5
conditions. NM -52.5 -140 -140 -317.5
In this simulation and implementation, we assumed that NS -42.5 -120 -120 -287.5
ZE 0 0 0 0
experiment area is 30 m x 30 m, altitude of hexacopter for
PS 42.5 120 120 287.5
achieving mission is 2 m with consideration its height PM 52.5 140 140 317.5
changing human operator, roll and pitch angle still in PB 62.5 160 160 347.5
stabilizazion threshold and maximum heading hexacopter is 2) Fuzzifying the inputs using the input membership
90° (1.57 rad) that can satisfy way point tracking and range functions of Gaussians curve, which described in figure 4.
of wind speed is 1 m/s for translational wind speed and 1 rad/s
for rotation wind speed.
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5) Combining the consequences to get an output distribution
and defuzzifying the output distribution.
6) Calculating the control signal , u, according the output of
fuzzy in the previous step.
( ) = ( ) + ( )
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attitude desired, using Fuzzy-PID intervention under wind
disturbance that its speed up to 1 rad/s. Yaw controller is used
for heading of hexacopter UAV to complete tracking
trajectory. Figure 11 shown FPID controller has better
performance in terms faster transient response, smaller steady
state (that reach 0.1 rad), control signal give some motions to
achieve the desired of yaw angle, compare to PID controller.
It also has successfully make hexacopter achive the yaw
angle desired under wind disturbance.
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in wind conditions with linear speeds of 1 m / s and rotation method and designed Fuzzy-PID controller for altitude and
of 1 rad / s. attitude stabilization of Hexacopter under wind disturbance.
Hexacopter UAV, which represents a highly nonlinear and
D. Implementation of Attitude Control
strongly couple dynamics need excellent static and dynamic
The PID controller has good performance in linear region, performances. In this result study, we proved on SITL
but it has some limitations in non linear region, which it away simulation and implementation that FPID controller, our
from hover, moving hexacopter in x or y axis using roll and proposed control method, has better performance in terms
pitch stabilization. Figure 13 show FPID controller has better faster transient response, smaller overshoot, smaller settling
dynamics and static performance, smaller error and faster time and smaller error steady state, compared with PID
transient response, smaller overshoot, smaller settling time controller. This controller also successfully make hexacopter
and smaller error steady state. PID controller that intervented achive desired altitude and attitude angle, solved stability,
by FLC force the control signal to stable at desired degree of accuracy, and robustness under uncertainty and wind
roll and pitch. The smaller error of pitch and roll angle, more environtment. Finally FPID controller ake Hexacopter UAV
stable hexacopter flight around x and y axis which it flight have excellent static and dynamic characteristic.
smoothly. The steady state error in the way point movement
implementation in the x and y axes reach 1 m and 0.7 m in ACKNOWLEDGMENT
sequence for achieving trajectory 30 m along x y axes. This work was partially funded by The Ministry of
Research, Technology and Higher Education, Republic of
Indonesia through the PUSNAS 2017 Program.
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