Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm
In this paper, a real-time optimized PropotionalIntegral-Derivative (PID) controller for a three Degree of Freedom (3DOF) helicopter is proposed. The real-time optimization of the PID controller gains is performed by the extremum seeking algorithm. The system is an under-actuated mechanical syst...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English English English |
| Published: |
IEEE
2015
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/50630/ http://irep.iium.edu.my/50630/ http://irep.iium.edu.my/50630/1/50603-Real-time_optimization_and_control_of_3DOF_helicopter_system_via_extremum_seeking_algorithm_Fullpaper.pdf http://irep.iium.edu.my/50630/4/ASCC-organizer.pdf http://irep.iium.edu.my/50630/7/50630_Real-time%20optimization%20and%20control%20of%203DOF%20helicopter%20system_Scopus.pdf |
| Summary: | In this paper, a real-time optimized PropotionalIntegral-Derivative
(PID) controller for a three Degree of Freedom
(3DOF) helicopter is proposed. The real-time optimization of the
PID controller gains is performed by the extremum seeking
algorithm. The system is an under-actuated mechanical system with
high nonlinearity and high coupling among its states. Such system
is affected by the outside disturbances which may affect the stability
of the system and lead to instability. For these reasons, an advanced
controller that is capable of tuning the controller gains adaptively
to the sudden changes, has the ability of regulation and finding best
tracking performance is required. The Extremum Seeking (ES)
control is a paradigm that aims to find an extremum value of an
unknown nonlinear mapping. Therefore, it will be useful to apply
ESC to tune PID controller. Experimental results demonstrate that
the tracking errors of elevation and pitch angles are converged to
the vicinity of the desired operating points with high robustness |
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