Akira Yanou    Department   Kawasaki University of Medical Welfare  ,    Position   Professor
Language	English
Title	Adaptive PID control system for underactuated flying object through model-based prediction
Conference	21st International Symposium on Artificial Life and Robotics
Conference Type	International society and overseas society
Presentation Type	Speech
Lecture Type	General
Publisher and common publisher	◎Akira Yanou, Mamoru Minami and Takayuki Matsuno
Date	2016/01
Venue (city and name of the country)	Beppu, Japan
Summary	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.