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COMSATS Institute of
Information Technology
Lahore Campus

Group Members

Faizan Hayat SP11-BTE-018

Adil Nasir SP11-BTE-042
Myrah Naeem SP11-BTE-076
Zubair Hasan SP11-BTE-107

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Project Advisor : Dr Mujtaba Hussain Jaffery
 Introduction
 Goals of Project
 Scope of project
 Methodology
 Goals achieved
 Obstacles in achieving FYP goals
 Timeline for project objective
 Distribution of work load among group members
 Conclusion
 References
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 UAV’s are widely used all around the world for various purposes

 UAV’s now build autonomously which can be controlled by pre-installed

flight plans, and proved to be very reasonable.

 Multirotor systems have gained popularity in the society of control

systems these days.

 So we decided to design and construct an autonomous aerial vehicle

testbed.

 When modelling a UAV, the main obstruction is its controlling and

stability. It’s important to model a testbed so we can realize, investigate
and find the suitable solution for the problems associated with an
aerospace vehicle.
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 Our goal is to design algorithms for multirotor
having three degree of freedom.

 We are using eight BLDC motors (EMAX) .

 Electronic Speed controllers (ESCs) are connected

to motors. They control the Revolution per
Minute (RPM) of the rotors.

 The PWM (Pulse width modulated) signals are

sent from Arduino to ESCs.

 GY-85 sensor is used which contains gyro,

accelerometer and Magnetometer.

 In Matlab Simulink, we are implementing PID controller.

 Multirotor

HPF
Complementary
Filter
LPF

Serial
Communication
PWM

I2C

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 Stabilization of Attitude of Octocopter in 3DOF

 Development of a Test Bed for researchers

 To learn the technologies used in flying machines

 Development of Simulink based Control Model

 To learn about interaction between software and hardware

 Understanding of control laws by practical examples

 To stabilize the octocopter in case of failure of any rotor

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 Attitude Control algorithms comparison

 The idea can be further extended to 6 degrees of freedom.

 Easy interface for students and Researchers

 Development of Help Guide for Teachers

 Implementation of Fault Tolerance technique in multi-rotor UAV’s

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 The whole setup consists of 8 rotors.

 ESC’s are connected to the motors, and are controlling the RPM.

 Our model is being controlling from PC i.e. Matlab Simulink and

Arduino.

 Serial Communication between PC and Micro controller.

 IIC Communication between IMU and Arduino.

 Use of PID,PD and PI controller.

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 Designing of hardware

 Completion of hardware structure including both

electrical and mechanical structure

 Motors, ESC’s and IMU Calibrations

 Communication of Arduino with IMU sensor(IIC)

 Sensor fusion algorithms

 PID controller implementation

 Arduino coding
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 Matlab simulation

 Interfacing of Arduino and Simulink using serial communication

 Attitude Stabilization of octocopter

 Fault Tolerance in case of motor failure

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 Unrecognizable data was received by Simulink through Serial
 Hit and trial method was used for proper PWM mapping
 Modification of stand that allows four DOF and mounting of
motors
 Understanding the protocols to communicate with IMU (GY-
85), Gyro sensor (ITG- 3205) and accelerometer (ADXL345)
 Data rate of serial communication and I2C communication
(should be same) is not same and causing possible problems in
calculating the angle in Simulink.

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 Delay in Serial communication
 Drift in angular position
 High frequency fluctuations
 Mathematical equations of multirotor(octocopter) for roll, pitch
and yaw.

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Phases Description of work Month/s & year 2014

Phase-1 Literature review February

Phase-2 Understanding of hardware & March

Gathering equipment

Phase-3 Mechanical & Electronic Structure April

Phase-4 Programming & calibration of May

IMU

Phase-5 Matlab simulation July/August

Phase-6 Designing of Mathematical September

equations
Phase-7 Kalman filter effects on October
attitude stability

Phase-8 Further extension November

Kinect sensor control
Phase-9 Final thesis December
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GROUP MEMBERS TASK ASSIGNED
ADIL NASIR  Collection of all Hardware components
BTE-SP11-042  Arduino programming
 Search and study Literature overview
 Control of Motors through Simulink
 Serial Communication between PC and Arduino
 Conversion of angular rates to angles in Simulink
 Implementation of PID controller

ZUBAIR HASAN  Collection of all Hardware components

BTE-SP11-107  Architecture of Multirotor
 Hardware assembling and mechanical structure
 Calibration and coding of MEMS Gyroscope
 Calibration and control of Motors through Arduino
 Serial Communication between PC and Arduino
 Sensor fusion algorithm
 Measurements of LIPO battery specifications for timing and power

FAIZAN HAYAT  Matlab and Simulink development for control process

BTE-SP11-018  Familiarization with Matlab GUI
 Serial Communication between PC and Arduino
 Calibration and control of Motors through Arduino
 Communication between IMU and Arduino (IIC)
 Search and study Literature overview

MYRAH NAEEM
BTE-SP11-076  Search and study Literature overview
 Implementation of PID controller
 Communication between IMU and Arduino
 Documentation 15
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 10833, g. (2020). Modelling and Control of Autonomous Quad-Rotor. Germany.
 Andrew, A. C. (2012/2013). Aerodynamics and Control. Research paper, 69.
 jinec, t. (2011, may 30). stabilization and control of unmanned quadcopter.
 Khan, S. (2013). Simulator for Testing and Validation of control laws on
quadrotor helicopter.

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