NDLI: Self-tuning precompensation of PID based heading control of a flying robot

Content Provider	IEEE Xplore Digital Library
Author	Puntunan, S. Parnichkun, M.
Copyright Year	2005
Description	Author affiliation: Sch. of Adv. Technol., Asian Inst. of Technol., Pathumthani, Thailand (Puntunan, S.; Parnichkun, M.)
Abstract	In this paper, an online self-tuning precompensation for a proportional-integral-derivative (PID) controller is proposed to control heading direction of a flying robot. The flying robot is a highly nonlinear plant, it is a modified X-Cell 60 radio-controlled helicopter. Heading direction is controlled to evaluate efficiency of the proposed precompensation algorithm. The heading control is based on the conventional PID control combined with an online self-tuning precompensation so that both the desired transient and steady state responses can be achieved. The precompensation is applied to compensate unsatisfied performances of the conventional PID controller by adjusting reference command of the conventional PID controller. The precompensator is based on Takagi-Sugeno's type fuzzy model, which learns to tune itself online. The main contribution of the proposed controller is to enhance the controlled performance of the conventional PID controller by adding a self-tuning precompensator on the existing conventional PID controller. The results show that the conventional PID controller with an online self-tuning precompensation has a superior performance than the conventional PID controller. In addition, the online self-tuning precompensation algorithm is implemented simply by adding the precompensator to the existing conventional PID controller and letting the self-tuning mechanism tune itself online.
Starting Page	226
Ending Page	230
File Size	764554
Page Count	5
File Format	PDF
ISBN	0780389476
DOI	10.1109/ARSO.2005.1511656
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-06-12
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy logic Fuzzy control Proportional control Three-term control Robot control Pi control Control systems Steady-state Radio control Tuning
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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