Abstract
This paper explores switching PID controller for an underactuated flying object through model-based prediction. 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 has nonlinear dynamics. In this research, controlled target is an underactuated flight object with two inputs and three outputs. The proposed method predicts the system outputs using the model of controlled target, and the control inputs are calculated by using their values. That is, PID gains are switched at each sampling time by the model-based controlled result with time passing virtually. A numerical example is shown to verify the validity of the proposed method.
| Original language | English |
|---|---|
| Title of host publication | 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Print) | 9781479978625 |
| DOIs | |
| Publication status | Published - Sep 8 2015 |
| Event | 10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia Duration: May 31 2015 → Jun 3 2015 |
Other
| Other | 10th Asian Control Conference, ASCC 2015 |
|---|---|
| Country | Malaysia |
| City | Kota Kinabalu |
| Period | 5/31/15 → 6/3/15 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Switching PID control for an underactuated flying object through model-based prediction. / Yanou, Akira; Yoshikawa, Kohei; Mizokami, Syouya; Minami, Mamoru; Matsuno, Takayuki.
2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. 7244499.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Switching PID control for an underactuated flying object through model-based prediction
AU - Yanou, Akira
AU - Yoshikawa, Kohei
AU - Mizokami, Syouya
AU - Minami, Mamoru
AU - Matsuno, Takayuki
PY - 2015/9/8
Y1 - 2015/9/8
N2 - This paper explores switching PID controller for an underactuated flying object through model-based prediction. 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 has nonlinear dynamics. In this research, controlled target is an underactuated flight object with two inputs and three outputs. The proposed method predicts the system outputs using the model of controlled target, and the control inputs are calculated by using their values. That is, PID gains are switched at each sampling time by the model-based controlled result with time passing virtually. A numerical example is shown to verify the validity of the proposed method.
AB - This paper explores switching PID controller for an underactuated flying object through model-based prediction. 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 has nonlinear dynamics. In this research, controlled target is an underactuated flight object with two inputs and three outputs. The proposed method predicts the system outputs using the model of controlled target, and the control inputs are calculated by using their values. That is, PID gains are switched at each sampling time by the model-based controlled result with time passing virtually. A numerical example is shown to verify the validity of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=84957611142&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84957611142&partnerID=8YFLogxK
U2 - 10.1109/ASCC.2015.7244499
DO - 10.1109/ASCC.2015.7244499
M3 - Conference contribution
SN - 9781479978625
BT - 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
ER -