Switching PID control for an underactuated flying object through model-based prediction

Akira Yanou, Kohei Yoshikawa, Syouya Mizokami, Mamoru Minami, Takayuki Matsuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


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.

Original languageEnglish
Title of host publication2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781479978625
Publication statusPublished - Sept 8 2015
Event10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia
Duration: May 31 2015Jun 3 2015


Other10th Asian Control Conference, ASCC 2015
CityKota Kinabalu

ASJC Scopus subject areas

  • Control and Systems Engineering


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