矢納 陽
Department Kawasaki University of Medical Welfare , Position Professor |
|
Language | English |
Title | Switching PID Control for an Underactuated Flying Object through Model-based Prediction |
Conference | 10th Asian Control Conference 2015 |
Conference Type | International society and overseas society |
Presentation Type | Speech |
Lecture Type | General |
Publisher and common publisher | ◎A. Yanou, K. Yoshikawa, S. Mizokami, M. Minami, and T. Matsuno |
Date | 2015/06 |
Venue (city and name of the country) |
Kota Kinabalu, Malaysia |
Summary | 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. |