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.
|Title of host publication
|2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
|Institute of Electrical and Electronics Engineers Inc.
|Published - Sept 8 2015
|10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia
Duration: May 31 2015 → Jun 3 2015
|10th Asian Control Conference, ASCC 2015
|5/31/15 → 6/3/15
ASJC Scopus subject areas
- Control and Systems Engineering