Position/orientation control of an underactuated flight object based on two degree-of-freedom PID control

Kohei Yoshikawa, Akira Yanou, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This research explores position/orientation control of an underactuated flight object based on two degree-of-freedom PID control. Helicopter is applied in large field because of flight ability such as vertical ascent, vertical descent and hovering. However the helicopter, which is one of the underactuated flight objects, is complex and a nonlinear dynamics. In this research, controlled target is two inputs three outputs underactuated flight object. The control strategy for the experimental device is examined by two degree-of-freedom PID control. This method aims to adjust target-tracking and disturbance-reduction ability independently.

Original languageEnglish
Title of host publication2012 Proceedings of SICE Annual Conference, SICE 2012
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1204-1209
Number of pages6
ISBN (Print)9781467322591
Publication statusPublished - Jan 1 2012
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
Duration: Aug 20 2012Aug 23 2012

Publication series

NameProceedings of the SICE Annual Conference

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CountryJapan
CityAkita
Period8/20/128/23/12

Keywords

  • PID control
  • Two degree-of-freedom
  • UMA
  • Underactuated system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Yoshikawa, K., Yanou, A., & Minami, M. (2012). Position/orientation control of an underactuated flight object based on two degree-of-freedom PID control. In 2012 Proceedings of SICE Annual Conference, SICE 2012 (pp. 1204-1209). [6318628] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).