Research Article
BibTex RIS Cite
Year 2022, Volume: 6 Issue: 1, 77 - 85, 20.07.2022

Abstract

References

  • 1.Udeanu, G., Dobrescu, A. and Oltean, M., 2016, May. Unmanned aerial vehicle in military operations. In The 18th International Conference “Scientific Research and Education in the Air Force–AFASES”, Brasov, Romania (pp. 199-205). DOI: 10.19062/2247-3173.2016.18.1.26
  • 2. Orfanus, D., de Freitas, E.P. and Eliassen, F., 2016. Self-organization as a supporting paradigm for military UAV relay networks. IEEE Communications letters, 20(4), pp.804-807. DOI: 10.1109/LCOMM.2016.2524405
  • 3. Dimc, F. and Magister, T., 2006, December. Mini UAV communication link systems. In Proc. ICTS (pp. 95-118).
  • 4. Xiao, Z., Xia, P. and Xia, X.G., 2016. Enabling UAV cellular with millimeter-wave communication: Potentials and approaches. IEEE Communications Magazine, 54(5), pp.66-73. DOI: 10.1109/MCOM.2016.7470937
  • 5. Zhao, N., Yang, X., Ren, A., Zhang, Z., Zhao, W., Hu, F., Rehman, M.U., Abbas, H. and Abolhasan, M., 2018. Antenna and propagation considerations for amateur uav monitoring. IEEE Access, 6, pp.28001-28007. DOI: 10.1109/ACCESS.2018.2838062
  • 6. Kumari, N., Kumar, R. and Bajaj, R., 2018. Energy efficient communication using reconfigurable directional antenna in MANET. Procedia Computer Science, 125, pp.194-200.
  • 7. Astari M, Rusimamto P, Rancang Bangun Sistem Pengendalian Posisi Azimut Antenna Tracker Berbasis Global Positioning System (Gps) Dengan Kendali PID, 2018, Jurnal Teknik Elektro, 7(03).
  • 8. Sumardi, S., 2018. PlD Parameters Auto-Tuning on. Jurnal Teknologi dan Sistem Komputer, 6(3), pp.122-128. DOI: https://doi.org/10.14710/jtsiskom.6.3.2018.122- 128.
  • 9. Uthman, A. and Sudin, S., 2018. Antenna azimuth position control system using PID controller & state-feedback controller approach. International Journal of Electrical and Computer Engineering (IJECE), 8(3), pp.1539-1550. DOI: 10.11591/ijece.v8i3.pp1539-1550
  • 10. Hui, J., Xudong, Z. and Haiyu, J., 2018. Research on ship-borne UXB antenna servo system based on LQG controller.
  • 11. Lin, J.M., Lin, C.H. and Hu, J.N., 2017, July. Mobile robot-based antenna tracking system on RPV using intelligent neural controller. In 2017 International Conference on Machine Learning and Cybernetics (ICMLC) (Vol. 2, pp. 633-639). IEEE. DOI: 10.1109/ICMLC.2017.8108980
  • 12. "Ardupilot". Ardupilot.Org, 2022, https://ardupilot.org/.
  • 13. Ganti, Sai R, Yoohwan K. Design of low-cost onboard auto-tracking antenna for small UAS. 2015 12th International Conference on Information Technology-New Generations. IEEE, 2015. DOI: 10.1109/ITNG.2015.50
  • 14. Changoluisa, I., Barzallo, J., Pantoja, J., Cayo, S., Navarro-Méndez, D.V. and Cruz, P.J., 2019, October. A Portable UAV Tracking System for Communications and Video Transmission. In 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) (pp. 1-6). IEEE. DOI: 10.1109/CCAC.2019.8921053
  • 15. Peterson, A., 2019. Benthic biodiversity in the north-eastern Baltic Sea: mapping methods, spatial patterns, and relations to environmental gradients.
  • 16. Firmansyah, R., Mustofa, M.B.A., Prasetya, M.E. and Saputra, P.P.S., 2020, November. Weather Monitoring Telemetry System Based on Arduino Pro Mini With Antenna Tracker Using Transceiver Module SV651 and SV611. In International Joint Conference on Science and Engineering (IJCSE 2020) (pp. 322-330). Atlantis Press.
  • 17. LEWIS, F.L., 2004. NEIL MUNRO, PH. D., D. SC.
  • 18. Podržaj, P., 2018, February. Contionuous VS discrete PID controller. In 2018 IEEE 9th International Conference on Mechanical andIntelligent Manufacturing Technologies (ICMIMT) (pp. 177-181). IEEE.
  • 19. Morón C et al. New prototype of photovoltaic solar tracker based on arduino. Energies 10.9 (2017): 1298. DOI https://doi.org/10.3390/en10091298
  • 20. Lewis, F.L., Dawson, D.M. and Abdallah, C.T., 2003. Robot manipulator control: theory and practice. CRC Press.
  • 21. Ogata, K., 1995. Discrete-time control systems. Prentice-Hall, Inc..
  • 22. Kuo, B.C. and Golnaraghi, M.F., 1995. Automatic control systems (Vol. 9). Englewood Cliffs, NJ: Prentice-Hall.
  • 23. Nugroho, G. and Dectaviansyah, D., 2018. Design, manufacture and performance analysis of an automatic antenna tracker for an unmanned aerial vehicle (UAV). Journal of Mechatronics, Electrical Power, and Vehicular Technology, 9(1), pp.32-40. DOI 10.14203/j.mev.2018.v9.32-40
  • 24. Ajiboye, A.T., Ajayi, A.R. and Ayinla, S.L., 2019. Effects of PID Controller on Performance of Dish Antenna Position Control for Distributed Mobile Telemedicine Nodes. Arid Zone Journal of Engineering, Technology and Environment, 15(2), pp.304-313.
  • 25. Temelkovskia, B. and Achkoskia, J., 2014. Modeling and simulation of antenna azimuth position control system. International Journal of Multidisciplinary and Current Research, 4.
  • 26. Romsai, W., Nawikavatan, A., Lurang, K. and Puangdownreong, D., 2021, May. Optimal PID Controller Design for Antenna Azimuth Position Control System by Lévy-Flight Intensified Current Search Algorithm. In 2021 18th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON) (pp. 858-861). IEEE. DOI: 10.1109/ECTI-CON51831.2021.9454731
  • 27. Hancioglu, O.K., Celik, M. and Tumerdem, U., 2018, May. Kinematics and tracking control of a four axis antenna for Satcom on the Move. In 2018 International Power Electronics Conference (IPEC-Niigata 2018-ECCE Asia) (pp. 1680-1686). IEEE. DOI: 10.23919/IPEC.2018.8507963
  • 28. Díaz, D.F.M., Montilla, M.E.R. and Suddarth, S., 2011, October. Active tracking position antenna base: A low cost approximation with servo gimbals. In IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE (pp. 1-6). IEEE. DOI: 10.1109/LARC.2011.6086855
  • 29. Chen, Z., Yin, D., Chen, D., Pan, M. and Lai, J., 2017, December. WiFi-based UAV Communication and Monitoring System in Regional Inspection. In 2017 International Conference on Computer Technology, Electronics and Communication (ICCTEC) (pp. 1395-1401). IEEE. DOI: 10.1109/ICCTEC.2017.00305
  • 30. Xiong, J.J. and Zhang, G., 2016. Discrete-time sliding mode control for a quadrotor UAV. Optik, 127(8), pp.3718-3722. DOI https://doi.org/10.1016/j.ijleo.2016.01.010

ANTENNA TRACKER DESIGN WITH A DISCRETE LYAPUNOV STABILITY BASED CONTROLLER FOR MINI UNMANNED AERIAL VEHICLES

Year 2022, Volume: 6 Issue: 1, 77 - 85, 20.07.2022

Abstract

Communication systems have recently been very important in mini unmanned aerial vehicles (UAV), which include many research subjects. Directional antennas are generally used in communication systems, and they should continuously and efficiently follow the UAVs with minimal errors. For this purpose, an “Antenna Tracker” system, which is capable of real-time autonomous orientation based on GPS data from the UAV, was designed. In the beginning, the system’s 3-dimensional solid model was obtained in SOLIDWORKSTM and its dynamical model was made in MATLAB / SimulinkTM environment. For controlling the system, a discrete-time model-based computed torque proportional controller, which is the state-of-the-art innovation in this study, was designed in two axes, and then its simulation studies were conducted on the STM32 board. The simulation studies showed that controlling the pan and tilt axes is sufficient for effective tracking, and the presented antenna tracker system is suitable for use in mobile ground control stations (GCS). By using a short sampling time for the controller, stable and precise antenna tracking is accomplished for a given reference path. When a 0.5 Hz sinusoidal reference signal input which is the maximum speed for any antenna tracker was used as a sample reference track, ±0.3- and ±0.6-degrees position error of pan and tilt angles were obtained, respectively. The controller can easily satisfy a smooth tracking operation with high accuracy.

References

  • 1.Udeanu, G., Dobrescu, A. and Oltean, M., 2016, May. Unmanned aerial vehicle in military operations. In The 18th International Conference “Scientific Research and Education in the Air Force–AFASES”, Brasov, Romania (pp. 199-205). DOI: 10.19062/2247-3173.2016.18.1.26
  • 2. Orfanus, D., de Freitas, E.P. and Eliassen, F., 2016. Self-organization as a supporting paradigm for military UAV relay networks. IEEE Communications letters, 20(4), pp.804-807. DOI: 10.1109/LCOMM.2016.2524405
  • 3. Dimc, F. and Magister, T., 2006, December. Mini UAV communication link systems. In Proc. ICTS (pp. 95-118).
  • 4. Xiao, Z., Xia, P. and Xia, X.G., 2016. Enabling UAV cellular with millimeter-wave communication: Potentials and approaches. IEEE Communications Magazine, 54(5), pp.66-73. DOI: 10.1109/MCOM.2016.7470937
  • 5. Zhao, N., Yang, X., Ren, A., Zhang, Z., Zhao, W., Hu, F., Rehman, M.U., Abbas, H. and Abolhasan, M., 2018. Antenna and propagation considerations for amateur uav monitoring. IEEE Access, 6, pp.28001-28007. DOI: 10.1109/ACCESS.2018.2838062
  • 6. Kumari, N., Kumar, R. and Bajaj, R., 2018. Energy efficient communication using reconfigurable directional antenna in MANET. Procedia Computer Science, 125, pp.194-200.
  • 7. Astari M, Rusimamto P, Rancang Bangun Sistem Pengendalian Posisi Azimut Antenna Tracker Berbasis Global Positioning System (Gps) Dengan Kendali PID, 2018, Jurnal Teknik Elektro, 7(03).
  • 8. Sumardi, S., 2018. PlD Parameters Auto-Tuning on. Jurnal Teknologi dan Sistem Komputer, 6(3), pp.122-128. DOI: https://doi.org/10.14710/jtsiskom.6.3.2018.122- 128.
  • 9. Uthman, A. and Sudin, S., 2018. Antenna azimuth position control system using PID controller & state-feedback controller approach. International Journal of Electrical and Computer Engineering (IJECE), 8(3), pp.1539-1550. DOI: 10.11591/ijece.v8i3.pp1539-1550
  • 10. Hui, J., Xudong, Z. and Haiyu, J., 2018. Research on ship-borne UXB antenna servo system based on LQG controller.
  • 11. Lin, J.M., Lin, C.H. and Hu, J.N., 2017, July. Mobile robot-based antenna tracking system on RPV using intelligent neural controller. In 2017 International Conference on Machine Learning and Cybernetics (ICMLC) (Vol. 2, pp. 633-639). IEEE. DOI: 10.1109/ICMLC.2017.8108980
  • 12. "Ardupilot". Ardupilot.Org, 2022, https://ardupilot.org/.
  • 13. Ganti, Sai R, Yoohwan K. Design of low-cost onboard auto-tracking antenna for small UAS. 2015 12th International Conference on Information Technology-New Generations. IEEE, 2015. DOI: 10.1109/ITNG.2015.50
  • 14. Changoluisa, I., Barzallo, J., Pantoja, J., Cayo, S., Navarro-Méndez, D.V. and Cruz, P.J., 2019, October. A Portable UAV Tracking System for Communications and Video Transmission. In 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) (pp. 1-6). IEEE. DOI: 10.1109/CCAC.2019.8921053
  • 15. Peterson, A., 2019. Benthic biodiversity in the north-eastern Baltic Sea: mapping methods, spatial patterns, and relations to environmental gradients.
  • 16. Firmansyah, R., Mustofa, M.B.A., Prasetya, M.E. and Saputra, P.P.S., 2020, November. Weather Monitoring Telemetry System Based on Arduino Pro Mini With Antenna Tracker Using Transceiver Module SV651 and SV611. In International Joint Conference on Science and Engineering (IJCSE 2020) (pp. 322-330). Atlantis Press.
  • 17. LEWIS, F.L., 2004. NEIL MUNRO, PH. D., D. SC.
  • 18. Podržaj, P., 2018, February. Contionuous VS discrete PID controller. In 2018 IEEE 9th International Conference on Mechanical andIntelligent Manufacturing Technologies (ICMIMT) (pp. 177-181). IEEE.
  • 19. Morón C et al. New prototype of photovoltaic solar tracker based on arduino. Energies 10.9 (2017): 1298. DOI https://doi.org/10.3390/en10091298
  • 20. Lewis, F.L., Dawson, D.M. and Abdallah, C.T., 2003. Robot manipulator control: theory and practice. CRC Press.
  • 21. Ogata, K., 1995. Discrete-time control systems. Prentice-Hall, Inc..
  • 22. Kuo, B.C. and Golnaraghi, M.F., 1995. Automatic control systems (Vol. 9). Englewood Cliffs, NJ: Prentice-Hall.
  • 23. Nugroho, G. and Dectaviansyah, D., 2018. Design, manufacture and performance analysis of an automatic antenna tracker for an unmanned aerial vehicle (UAV). Journal of Mechatronics, Electrical Power, and Vehicular Technology, 9(1), pp.32-40. DOI 10.14203/j.mev.2018.v9.32-40
  • 24. Ajiboye, A.T., Ajayi, A.R. and Ayinla, S.L., 2019. Effects of PID Controller on Performance of Dish Antenna Position Control for Distributed Mobile Telemedicine Nodes. Arid Zone Journal of Engineering, Technology and Environment, 15(2), pp.304-313.
  • 25. Temelkovskia, B. and Achkoskia, J., 2014. Modeling and simulation of antenna azimuth position control system. International Journal of Multidisciplinary and Current Research, 4.
  • 26. Romsai, W., Nawikavatan, A., Lurang, K. and Puangdownreong, D., 2021, May. Optimal PID Controller Design for Antenna Azimuth Position Control System by Lévy-Flight Intensified Current Search Algorithm. In 2021 18th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON) (pp. 858-861). IEEE. DOI: 10.1109/ECTI-CON51831.2021.9454731
  • 27. Hancioglu, O.K., Celik, M. and Tumerdem, U., 2018, May. Kinematics and tracking control of a four axis antenna for Satcom on the Move. In 2018 International Power Electronics Conference (IPEC-Niigata 2018-ECCE Asia) (pp. 1680-1686). IEEE. DOI: 10.23919/IPEC.2018.8507963
  • 28. Díaz, D.F.M., Montilla, M.E.R. and Suddarth, S., 2011, October. Active tracking position antenna base: A low cost approximation with servo gimbals. In IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE (pp. 1-6). IEEE. DOI: 10.1109/LARC.2011.6086855
  • 29. Chen, Z., Yin, D., Chen, D., Pan, M. and Lai, J., 2017, December. WiFi-based UAV Communication and Monitoring System in Regional Inspection. In 2017 International Conference on Computer Technology, Electronics and Communication (ICCTEC) (pp. 1395-1401). IEEE. DOI: 10.1109/ICCTEC.2017.00305
  • 30. Xiong, J.J. and Zhang, G., 2016. Discrete-time sliding mode control for a quadrotor UAV. Optik, 127(8), pp.3718-3722. DOI https://doi.org/10.1016/j.ijleo.2016.01.010
There are 30 citations in total.

Details

Primary Language English
Subjects Engineering
Journal Section Articles
Authors

Mehmet İşcan 0000-0003-2261-8218

Ali Ihsan Tas 0000-0002-4918-3587

Berkem Vural 0000-0002-3891-6642

Ali Burak Ozden 0000-0003-4685-9825

Cüneyt Yılmaz 0000-0002-4263-8411

Publication Date July 20, 2022
Submission Date June 21, 2022
Published in Issue Year 2022 Volume: 6 Issue: 1

Cite

IEEE M. İşcan, A. I. Tas, B. Vural, A. B. Ozden, and C. Yılmaz, “ANTENNA TRACKER DESIGN WITH A DISCRETE LYAPUNOV STABILITY BASED CONTROLLER FOR MINI UNMANNED AERIAL VEHICLES”, IJMSIT, vol. 6, no. 1, pp. 77–85, 2022.