Self-tuning deadbeat PD controller for pitch angle control of a bench-top helicopter

This paper presents an improved robust Proportional Derivative controller for a 3-Degree-of-Freedom (3-DOF) bench-top helicopter by using adaptive methodology. Bench-top helicopter is a laboratory scale helicopter used for experimental purposes which is widely used in teaching laboratory and researc...

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Main Authors:	Mansor, Hasmah, Mohd Noor, Samsul Bahari, Gunawan, Teddy Surya, Khan, Sheroz, Othman, N. I., Tazali, N., Boby, Rounaqul Islam
Format:	Conference or Workshop Item
Language:	English English
Published:	2014
Subjects:	T Technology (General)
Online Access:	http://irep.iium.edu.my/39226/ http://irep.iium.edu.my/39226/ http://irep.iium.edu.my/39226/1/39226.pdf http://irep.iium.edu.my/39226/4/39226_Self-tuning%20deadbeat%20PD%20controller_Scopus.pdf

id	iium-39226
recordtype	eprints
spelling	iium-392262017-09-20T11:00:46Z http://irep.iium.edu.my/39226/ Self-tuning deadbeat PD controller for pitch angle control of a bench-top helicopter Mansor, Hasmah Mohd Noor, Samsul Bahari Gunawan, Teddy Surya Khan, Sheroz Othman, N. I. Tazali, N. Boby, Rounaqul Islam T Technology (General) This paper presents an improved robust Proportional Derivative controller for a 3-Degree-of-Freedom (3-DOF) bench-top helicopter by using adaptive methodology. Bench-top helicopter is a laboratory scale helicopter used for experimental purposes which is widely used in teaching laboratory and research. Proportional Derivative controller has been developed for a 3-DOF bench-top helicopter by Quanser. Experiments showed that the transient response of designed PD controller has very large steady state error i.e., 50%, which is very serious. The objective of this research is to improve the performance of existing pitch angle control of PD controller on the bench-top helicopter by integration of PD controller with adaptive controller. Usually standard adaptive controller will produce zero steady state error; however response time to reach desired set point is large. Therefore, this paper proposed an adaptive with deadbeat algorithm to overcome the limitations. The output response that is fast, robust and updated online is expected. Performance comparisons have been performed between the proposed self-tuning deadbeat PD controller and standard PD controller. The efficiency of the self-tuning dead beat controller has been proven from the tests results in terms of faster settling time, zero steady state error and capability of the controller to be updated online. 2014 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/39226/1/39226.pdf application/pdf en http://irep.iium.edu.my/39226/4/39226_Self-tuning%20deadbeat%20PD%20controller_Scopus.pdf Mansor, Hasmah and Mohd Noor, Samsul Bahari and Gunawan, Teddy Surya and Khan, Sheroz and Othman, N. I. and Tazali, N. and Boby, Rounaqul Islam (2014) Self-tuning deadbeat PD controller for pitch angle control of a bench-top helicopter. In: 5th International Conference on Computer and Communication Engineering (ICCCE 2014), 23th - 25th September 2014, Sunway Putra Hotel, Kuala Lumpur. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7031615
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	T Technology (General)
spellingShingle	T Technology (General) Mansor, Hasmah Mohd Noor, Samsul Bahari Gunawan, Teddy Surya Khan, Sheroz Othman, N. I. Tazali, N. Boby, Rounaqul Islam Self-tuning deadbeat PD controller for pitch angle control of a bench-top helicopter
description	This paper presents an improved robust Proportional Derivative controller for a 3-Degree-of-Freedom (3-DOF) bench-top helicopter by using adaptive methodology. Bench-top helicopter is a laboratory scale helicopter used for experimental purposes which is widely used in teaching laboratory and research. Proportional Derivative controller has been developed for a 3-DOF bench-top helicopter by Quanser. Experiments showed that the transient response of designed PD controller has very large steady state error i.e., 50%, which is very serious. The objective of this research is to improve the performance of existing pitch angle control of PD controller on the bench-top helicopter by integration of PD controller with adaptive controller. Usually standard adaptive controller will produce zero steady state error; however response time to reach desired set point is large. Therefore, this paper proposed an adaptive with deadbeat algorithm to overcome the limitations. The output response that is fast, robust and updated online is expected. Performance comparisons have been performed between the proposed self-tuning deadbeat PD controller and standard PD controller. The efficiency of the self-tuning dead beat controller has been proven from the tests results in terms of faster settling time, zero steady state error and capability of the controller to be updated online.
format	Conference or Workshop Item
author	Mansor, Hasmah Mohd Noor, Samsul Bahari Gunawan, Teddy Surya Khan, Sheroz Othman, N. I. Tazali, N. Boby, Rounaqul Islam
author_facet	Mansor, Hasmah Mohd Noor, Samsul Bahari Gunawan, Teddy Surya Khan, Sheroz Othman, N. I. Tazali, N. Boby, Rounaqul Islam
author_sort	Mansor, Hasmah
title	Self-tuning deadbeat PD controller for pitch angle control of a bench-top helicopter
title_short	Self-tuning deadbeat PD controller for pitch angle control of a bench-top helicopter
title_full	Self-tuning deadbeat PD controller for pitch angle control of a bench-top helicopter
title_fullStr	Self-tuning deadbeat PD controller for pitch angle control of a bench-top helicopter
title_full_unstemmed	Self-tuning deadbeat PD controller for pitch angle control of a bench-top helicopter
title_sort	self-tuning deadbeat pd controller for pitch angle control of a bench-top helicopter
publishDate	2014
url	http://irep.iium.edu.my/39226/ http://irep.iium.edu.my/39226/ http://irep.iium.edu.my/39226/1/39226.pdf http://irep.iium.edu.my/39226/4/39226_Self-tuning%20deadbeat%20PD%20controller_Scopus.pdf
first_indexed	2023-09-18T20:56:20Z
last_indexed	2023-09-18T20:56:20Z
_version_	1777410328739446784

Self-tuning deadbeat PD controller for pitch angle control of a bench-top helicopter

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