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

Kohei Yoshikawa; Akira Yanou; Mamoru Minami

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 proceeding › Conference contribution

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 language	English
Title of host publication	2012 Proceedings of SICE Annual Conference, SICE 2012
Publisher	Society of Instrument and Control Engineers (SICE)
Pages	1204-1209
Number of pages	6
ISBN (Print)	9781467322591
Publication status	Published - Jan 1 2012
Event	2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan Duration: Aug 20 2012 → Aug 23 2012

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
Country/Territory	Japan
City	Akita
Period	8/20/12 → 8/23/12

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

Cite this

Position/orientation control of an underactuated flight object based on two degree-of-freedom PID control. / Yoshikawa, Kohei; Yanou, Akira; Minami, Mamoru.

2012 Proceedings of SICE Annual Conference, SICE 2012. Society of Instrument and Control Engineers (SICE), 2012. p. 1204-1209 6318628 (Proceedings of the SICE Annual Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 6318628, Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), pp. 1204-1209, 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012, Akita, Japan, 8/20/12.

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AB - 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.

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

Abstract

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Keywords

ASJC Scopus subject areas

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