Optimization of Quaternion Based on Hybrid PID and Pw Control

Balya Darohini; M. F. Abas; N. Md Saad; Dwi Pebrianti; H. Ahmad; M. H. Ariff; M. R. Arshad

doi:10.1007/978-981-15-2317-5_14

Optimization of Quaternion Based on Hybrid PID and P_w Control

Balya Darohini, M. F. Abas^*, N. Md Saad, Dwi Pebrianti, H. Ahmad, M. H. Ariff, M. R. Arshad

^*Corresponding author for this work

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Abstract

The aim of this article is to present an optimization of full non-linear quaternion based on hybrid control scheme using Genetic Algorithm (GA). A comprehensive objective is used to find novel solutions to design hybrid controller based on PID and control so that the performance and functionality system and may be compromised. The proposed hybrid control algorithm and quadrotor attitude model have been implemented in the fully quaternion space without any conversion and calculations in the Euler’s angles. In this paper, the optimized quaternion with fitness function composed of are proposed, and the output effective waveform is shown by simulations using MATLAB.

Original language	English
Title of host publication	InECCE 2019 - Proceedings of the 5th International Conference on Electrical, Control and Computer Engineering
Editors	Ahmad Nor Kasruddin Nasir, Mohd Mawardi Saari, Mohd Razali Daud, Ahmad Afif Mohd Faudzi, Mohd Ashraf Ahmad, Muhammad Sharfi Najib, Yasmin Abdul Wahab, Nur Aqilah Othman, Nor Maniha Abd Ghani, Addie Irawan, Sabira Khatun, Raja Mohd Taufika Raja Ismail
Publisher	Springer
Pages	153-165
Number of pages	13
ISBN (Print)	9789811523168
DOIs	https://doi.org/10.1007/978-981-15-2317-5_14
Publication status	Published - 2020
Externally published	Yes
Event	5th International Conference on Electrical, Control and Computer Engineering, InECCE 2019 - Kuantan, Malaysia Duration: 29 Jul 2019 → 29 Jul 2019

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	632
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	5th International Conference on Electrical, Control and Computer Engineering, InECCE 2019
Country/Territory	Malaysia
City	Kuantan
Period	29/07/19 → 29/07/19

Keywords

Crossover
Genetic algorithm
Mutation
PID controller
Quaternion
UAV

Access to Document

10.1007/978-981-15-2317-5_14

Cite this

Darohini, B., Abas, M. F., Saad, N. M., Pebrianti, D., Ahmad, H., Ariff, M. H., & Arshad, M. R. (2020). Optimization of Quaternion Based on Hybrid PID and P_w Control. In A. N. Kasruddin Nasir, M. M. Saari, M. R. Daud, A. A. Mohd Faudzi, M. A. Ahmad, M. S. Najib, Y. Abdul Wahab, N. A. Othman, N. M. Abd Ghani, A. Irawan, S. Khatun, & R. M. T. Raja Ismail (Eds.), InECCE 2019 - Proceedings of the 5th International Conference on Electrical, Control and Computer Engineering (pp. 153-165). (Lecture Notes in Electrical Engineering; Vol. 632). Springer. https://doi.org/10.1007/978-981-15-2317-5_14

Darohini, Balya ; Abas, M. F. ; Saad, N. Md et al. / Optimization of Quaternion Based on Hybrid PID and P_w Control. InECCE 2019 - Proceedings of the 5th International Conference on Electrical, Control and Computer Engineering. editor / Ahmad Nor Kasruddin Nasir ; Mohd Mawardi Saari ; Mohd Razali Daud ; Ahmad Afif Mohd Faudzi ; Mohd Ashraf Ahmad ; Muhammad Sharfi Najib ; Yasmin Abdul Wahab ; Nur Aqilah Othman ; Nor Maniha Abd Ghani ; Addie Irawan ; Sabira Khatun ; Raja Mohd Taufika Raja Ismail. Springer, 2020. pp. 153-165 (Lecture Notes in Electrical Engineering).

@inproceedings{c86d6c046ab44849b98266cf13e0593f,

title = "Optimization of Quaternion Based on Hybrid PID and Pw Control",

abstract = "The aim of this article is to present an optimization of full non-linear quaternion based on hybrid control scheme using Genetic Algorithm (GA). A comprehensive objective is used to find novel solutions to design hybrid controller based on PID and control so that the performance and functionality system and may be compromised. The proposed hybrid control algorithm and quadrotor attitude model have been implemented in the fully quaternion space without any conversion and calculations in the Euler{\textquoteright}s angles. In this paper, the optimized quaternion with fitness function composed of are proposed, and the output effective waveform is shown by simulations using MATLAB.",

keywords = "Crossover, Genetic algorithm, Mutation, PID controller, Quaternion, UAV",

author = "Balya Darohini and Abas, {M. F.} and Saad, {N. Md} and Dwi Pebrianti and H. Ahmad and Ariff, {M. H.} and Arshad, {M. R.}",

note = "Publisher Copyright: {\textcopyright} 2020, Springer Nature Singapore Pte Ltd.; 5th International Conference on Electrical, Control and Computer Engineering, InECCE 2019 ; Conference date: 29-07-2019 Through 29-07-2019",

year = "2020",

doi = "10.1007/978-981-15-2317-5_14",

language = "English",

isbn = "9789811523168",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer",

pages = "153--165",

editor = "{Kasruddin Nasir}, {Ahmad Nor} and Saari, {Mohd Mawardi} and Daud, {Mohd Razali} and {Mohd Faudzi}, {Ahmad Afif} and Ahmad, {Mohd Ashraf} and Najib, {Muhammad Sharfi} and {Abdul Wahab}, Yasmin and Othman, {Nur Aqilah} and {Abd Ghani}, {Nor Maniha} and Addie Irawan and Sabira Khatun and {Raja Ismail}, {Raja Mohd Taufika}",

booktitle = "InECCE 2019 - Proceedings of the 5th International Conference on Electrical, Control and Computer Engineering",

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Darohini, B, Abas, MF, Saad, NM, Pebrianti, D, Ahmad, H, Ariff, MH & Arshad, MR 2020, Optimization of Quaternion Based on Hybrid PID and P_w Control. in AN Kasruddin Nasir, MM Saari, MR Daud, AA Mohd Faudzi, MA Ahmad, MS Najib, Y Abdul Wahab, NA Othman, NM Abd Ghani, A Irawan, S Khatun & RMT Raja Ismail (eds), InECCE 2019 - Proceedings of the 5th International Conference on Electrical, Control and Computer Engineering. Lecture Notes in Electrical Engineering, vol. 632, Springer, pp. 153-165, 5th International Conference on Electrical, Control and Computer Engineering, InECCE 2019, Kuantan, Malaysia, 29/07/19. https://doi.org/10.1007/978-981-15-2317-5_14

Optimization of Quaternion Based on Hybrid PID and P_w Control. / Darohini, Balya; Abas, M. F.; Saad, N. Md et al.
InECCE 2019 - Proceedings of the 5th International Conference on Electrical, Control and Computer Engineering. ed. / Ahmad Nor Kasruddin Nasir; Mohd Mawardi Saari; Mohd Razali Daud; Ahmad Afif Mohd Faudzi; Mohd Ashraf Ahmad; Muhammad Sharfi Najib; Yasmin Abdul Wahab; Nur Aqilah Othman; Nor Maniha Abd Ghani; Addie Irawan; Sabira Khatun; Raja Mohd Taufika Raja Ismail. Springer, 2020. p. 153-165 (Lecture Notes in Electrical Engineering; Vol. 632).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

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T1 - Optimization of Quaternion Based on Hybrid PID and Pw Control

AU - Darohini, Balya

AU - Abas, M. F.

AU - Saad, N. Md

AU - Pebrianti, Dwi

AU - Ahmad, H.

AU - Ariff, M. H.

AU - Arshad, M. R.

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AB - The aim of this article is to present an optimization of full non-linear quaternion based on hybrid control scheme using Genetic Algorithm (GA). A comprehensive objective is used to find novel solutions to design hybrid controller based on PID and control so that the performance and functionality system and may be compromised. The proposed hybrid control algorithm and quadrotor attitude model have been implemented in the fully quaternion space without any conversion and calculations in the Euler’s angles. In this paper, the optimized quaternion with fitness function composed of are proposed, and the output effective waveform is shown by simulations using MATLAB.

KW - Crossover

KW - Genetic algorithm

KW - Mutation

KW - PID controller

KW - Quaternion

KW - UAV

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M3 - Conference Proceeding

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SN - 9789811523168

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EP - 165

BT - InECCE 2019 - Proceedings of the 5th International Conference on Electrical, Control and Computer Engineering

A2 - Kasruddin Nasir, Ahmad Nor

A2 - Saari, Mohd Mawardi

A2 - Daud, Mohd Razali

A2 - Mohd Faudzi, Ahmad Afif

A2 - Ahmad, Mohd Ashraf

A2 - Najib, Muhammad Sharfi

A2 - Abdul Wahab, Yasmin

A2 - Othman, Nur Aqilah

A2 - Abd Ghani, Nor Maniha

A2 - Irawan, Addie

A2 - Khatun, Sabira

A2 - Raja Ismail, Raja Mohd Taufika

PB - Springer

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Darohini B, Abas MF, Saad NM, Pebrianti D, Ahmad H, Ariff MH et al. Optimization of Quaternion Based on Hybrid PID and P_w Control. In Kasruddin Nasir AN, Saari MM, Daud MR, Mohd Faudzi AA, Ahmad MA, Najib MS, Abdul Wahab Y, Othman NA, Abd Ghani NM, Irawan A, Khatun S, Raja Ismail RMT, editors, InECCE 2019 - Proceedings of the 5th International Conference on Electrical, Control and Computer Engineering. Springer. 2020. p. 153-165. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-15-2317-5_14