Switching PID control for an underactuated flying object through model-based prediction

Akira Yanou; Kohei Yoshikawa; Syouya Mizokami; Mamoru Minami; Takayuki Matsuno

doi:10.1109/ASCC.2015.7244499

Switching PID control for an underactuated flying object through model-based prediction

Akira Yanou, Kohei Yoshikawa, Syouya Mizokami, Mamoru Minami, Takayuki Matsuno

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

1 Citation (Scopus)

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	https://doi.org/10.1109/ASCC.2015.7244499
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/Territory	Malaysia
City	Kota Kinabalu
Period	5/31/15 → 6/3/15

ASJC Scopus subject areas

Control and Systems Engineering

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10.1109/ASCC.2015.7244499

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Yanou, A., Yoshikawa, K., Mizokami, S., Minami, M., & Matsuno, T. (2015). Switching PID control for an underactuated flying object through model-based prediction. In 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 [7244499] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2015.7244499

Switching PID control for an underactuated flying object through model-based prediction. / Yanou, Akira; Yoshikawa, Kohei; Mizokami, Syouya et al.

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

Yanou, A, Yoshikawa, K, Mizokami, S, Minami, M & Matsuno, T 2015, Switching PID control for an underactuated flying object through model-based prediction. in 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015., 7244499, Institute of Electrical and Electronics Engineers Inc., 10th Asian Control Conference, ASCC 2015, Kota Kinabalu, Malaysia, 5/31/15. https://doi.org/10.1109/ASCC.2015.7244499

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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.",

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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.

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Switching PID control for an underactuated flying object through model-based prediction

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