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

Content Provider	IEEE Xplore Digital Library
Author	Yanou, A. Yoshikawa, K. Mizokami, S. Minami, M. Matsuno, T.
Copyright Year	2015
Description	Author affiliation: Grad. Sch. of Natural Sci. & Technol., Okayama Univ., Okayama, Japan (Yanou, A.; Yoshikawa, K.; Mizokami, S.; Minami, M.; Matsuno, T.)
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.
Starting Page	1
Ending Page	5
File Size	714668
Page Count	5
File Format	PDF
ISBN	9781479978625
DOI	10.1109/ASCC.2015.7244499
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-31
Publisher Place	Malaysia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Decision support systems Zirconium Orbits
Content Type	Text
Resource Type	Article

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