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...

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Main Authors:	Ra'afat, Safanah M., Ali, Shahad S., Akmeliawati, Rini
Format:	Conference or Workshop Item
Language:	English English English
Published:	IEEE 2015
Subjects:	T Technology (General)
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

id	iium-50630
recordtype	eprints
spelling	iium-506302017-05-08T01:42:22Z http://irep.iium.edu.my/50630/ Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm Ra'afat, Safanah M. Ali, Shahad S. Akmeliawati, Rini T Technology (General) 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 IEEE 2015-05 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/50630/1/50603-Real-time_optimization_and_control_of_3DOF_helicopter_system_via_extremum_seeking_algorithm_Fullpaper.pdf application/pdf en http://irep.iium.edu.my/50630/4/ASCC-organizer.pdf application/pdf en http://irep.iium.edu.my/50630/7/50630_Real-time%20optimization%20and%20control%20of%203DOF%20helicopter%20system_Scopus.pdf Ra'afat, Safanah M. and Ali, Shahad S. and Akmeliawati, Rini (2015) Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm. In: 2015 10th Asian Control Conference (ASCC 2015), 31st May-3rd June 2015, Kota Kinabalu, Sabah. 10.1109/ASCC.2015.7244822
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English
topic	T Technology (General)
spellingShingle	T Technology (General) Ra'afat, Safanah M. Ali, Shahad S. Akmeliawati, Rini Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm
description	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
format	Conference or Workshop Item
author	Ra'afat, Safanah M. Ali, Shahad S. Akmeliawati, Rini
author_facet	Ra'afat, Safanah M. Ali, Shahad S. Akmeliawati, Rini
author_sort	Ra'afat, Safanah M.
title	Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm
title_short	Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm
title_full	Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm
title_fullStr	Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm
title_full_unstemmed	Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm
title_sort	real-time optimization and control of 3dof helicopter system via extremum seeking algorithm
publisher	IEEE
publishDate	2015
url	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
first_indexed	2023-09-18T21:11:34Z
last_indexed	2023-09-18T21:11:34Z
_version_	1777411287632838656

Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm

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