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	Switching PID Control for an Underactuated Flying Object through Model-based Prediction
会議名	10th Asian Control Conference 2015
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	◎A. Yanou, K. Yoshikawa, S. Mizokami, M. Minami, and T. Matsuno
発表年月日	2015/06
開催地 （都市, 国名）	Kota Kinabalu, Malaysia
概要	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.