Real-time implementation of H∞ controller for UAV helicopter using MATLAB-based embedded programming approach
The rapid-prototyping and deployment of flight control algorithm on a real-time embedded target has been one of the major challenges in an unmanned helicopter system development. In this paper, a MATLAB-Simulink based embedded target programming approach is presented to address this challenge. The m...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English English |
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IEEE
2015
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| Online Access: | http://irep.iium.edu.my/44859/ http://irep.iium.edu.my/44859/1/ASCC2015_tijani.pdf http://irep.iium.edu.my/44859/4/44859_Real-time%20implementation%20of%20H%E2%88%9E%20controller%20for%20UAV%20helicopter%20using%20MATLAB-based%20embedded%20programming%20approach_SCOPUS.pdf |
| _version_ | 1848782680230985728 |
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| author | Tijani, Ismaila Akmeliawati, Rini Legowo, Ari |
| author_facet | Tijani, Ismaila Akmeliawati, Rini Legowo, Ari |
| author_sort | Tijani, Ismaila |
| building | IIUM Repository |
| collection | Online Access |
| description | The rapid-prototyping and deployment of flight control algorithm on a real-time embedded target has been one of the major challenges in an unmanned helicopter system development. In this paper, a MATLAB-Simulink based embedded target programming approach is presented to address this challenge. The motivation for this approach is that, since most of the computational tasks in the unmanned helicopter system, such as modeling, controller design and simulation are readily and effectively achieved within the MATLAB environment, then, extending the platform to deployment of the resulting flight algorithm onto an embedded target would greatly ease the overall developmental activities. The design and deployment of an H∞ based flight control algorithm onto an embedded target is presented for a small scale unmanned helicopter system. The results of the hardware-in-loop simulation and real-flight tests show effectiveness of the proposed approach. This is expected to facilitate and contribute towards a single-platform integrated development environment for unmanned system development. |
| first_indexed | 2025-11-14T16:09:18Z |
| format | Proceeding Paper |
| id | iium-44859 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T16:09:18Z |
| publishDate | 2015 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-448592018-03-02T08:45:18Z http://irep.iium.edu.my/44859/ Real-time implementation of H∞ controller for UAV helicopter using MATLAB-based embedded programming approach Tijani, Ismaila Akmeliawati, Rini Legowo, Ari TJ212 Control engineering The rapid-prototyping and deployment of flight control algorithm on a real-time embedded target has been one of the major challenges in an unmanned helicopter system development. In this paper, a MATLAB-Simulink based embedded target programming approach is presented to address this challenge. The motivation for this approach is that, since most of the computational tasks in the unmanned helicopter system, such as modeling, controller design and simulation are readily and effectively achieved within the MATLAB environment, then, extending the platform to deployment of the resulting flight algorithm onto an embedded target would greatly ease the overall developmental activities. The design and deployment of an H∞ based flight control algorithm onto an embedded target is presented for a small scale unmanned helicopter system. The results of the hardware-in-loop simulation and real-flight tests show effectiveness of the proposed approach. This is expected to facilitate and contribute towards a single-platform integrated development environment for unmanned system development. IEEE 2015 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/44859/1/ASCC2015_tijani.pdf application/pdf en http://irep.iium.edu.my/44859/4/44859_Real-time%20implementation%20of%20H%E2%88%9E%20controller%20for%20UAV%20helicopter%20using%20MATLAB-based%20embedded%20programming%20approach_SCOPUS.pdf Tijani, Ismaila and Akmeliawati, Rini and Legowo, Ari (2015) Real-time implementation of H∞ controller for UAV helicopter using MATLAB-based embedded programming approach. In: 2015 10th Asian Control Conference (ASCC 2015), 31st May- 3rd June 2015, Kota Kinabalu, Sabah. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7244511&punumber%3D7209153%26filter%3DAND(p_IS_Number%3A7244373)%26pageNumber%3D6 doi:10.1109/ASCC.2015.7244511 |
| spellingShingle | TJ212 Control engineering Tijani, Ismaila Akmeliawati, Rini Legowo, Ari Real-time implementation of H∞ controller for UAV helicopter using MATLAB-based embedded programming approach |
| title | Real-time implementation of H∞ controller for UAV helicopter using MATLAB-based embedded programming approach |
| title_full | Real-time implementation of H∞ controller for UAV helicopter using MATLAB-based embedded programming approach |
| title_fullStr | Real-time implementation of H∞ controller for UAV helicopter using MATLAB-based embedded programming approach |
| title_full_unstemmed | Real-time implementation of H∞ controller for UAV helicopter using MATLAB-based embedded programming approach |
| title_short | Real-time implementation of H∞ controller for UAV helicopter using MATLAB-based embedded programming approach |
| title_sort | real-time implementation of h∞ controller for uav helicopter using matlab-based embedded programming approach |
| topic | TJ212 Control engineering |
| url | http://irep.iium.edu.my/44859/ http://irep.iium.edu.my/44859/ http://irep.iium.edu.my/44859/ http://irep.iium.edu.my/44859/1/ASCC2015_tijani.pdf http://irep.iium.edu.my/44859/4/44859_Real-time%20implementation%20of%20H%E2%88%9E%20controller%20for%20UAV%20helicopter%20using%20MATLAB-based%20embedded%20programming%20approach_SCOPUS.pdf |