Akira Yanou    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.