ヤノウ　アキラ   Akira Yanou   矢納　陽    所属   川崎医療福祉大学  医療技術学部 診療放射線技術学科    職種   教授
言語種別	英語
発表タイトル	Adaptive PID control system for underactuated flying object through model-based prediction
会議名	21st International Symposium on Artificial Life and Robotics
学会区分	国際学会及び海外の学会
発表形式	口頭
講演区分	一般
発表者・共同発表者	◎Akira Yanou, Mamoru Minami and Takayuki Matsuno
発表年月日	2016/01
開催地 （都市, 国名）	Beppu, Japan
概要	This paper explores adaptive PID control system 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 control gains are adaptively changed at each control period by the model-based controlled result with time passing virtually. The control gains consist of switching part and fixed part in order to tune the control performance. An experimental result is shown to consider the effectiveness of the proposed method.