Auto tuning adaptive I-PD control having an on-line system identification mechanism for industrial multi-rotor helicopters

For unmanned helicopters to be used in industrial applications, autonomous flight control is necessary. This study aims to shorten the time required to tune a controller and design a stable control system for model variation of unmanned multi-rotor helicopters. Designing model based controllers requ...
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Autor*in:	Atsushi HORI [verfasserIn] Tatsuya FURUI [verfasserIn] Daisuke IWAKURA [verfasserIn] Kenzo NONAMI [verfasserIn]

Format:	E-Artikel
Sprache:	Japanisch

Erschienen:	2016

Schlagwörter:	moving robot autonomy adaptive algorithm adaptive control system identification multi-rotor uav

Übergeordnetes Werk:	In: Nihon Kikai Gakkai ronbunshu - The Japan Society of Mechanical Engineers, 2022, 82(2016), 834, Seite 15-00315-15-00315
Übergeordnetes Werk:	volume:82 ; year:2016 ; number:834 ; pages:15-00315-15-00315

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.1299/transjsme.15-00315

Katalog-ID:	DOAJ019961677

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language	Japanese
source	In Nihon Kikai Gakkai ronbunshu 82(2016), 834, Seite 15-00315-15-00315 volume:82 year:2016 number:834 pages:15-00315-15-00315
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topic_facet	moving robot autonomy adaptive algorithm adaptive control system identification multi-rotor uav Mechanical engineering and machinery Engineering machinery, tools, and implements
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container_title	Nihon Kikai Gakkai ronbunshu
authorswithroles_txt_mv	Atsushi HORI @@aut@@ Tatsuya FURUI @@aut@@ Daisuke IWAKURA @@aut@@ Kenzo NONAMI @@aut@@
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callnumber-first	T - Technology
author	Atsushi HORI
spellingShingle	Atsushi HORI misc TJ1-1570 misc TA213-215 misc moving robot misc autonomy misc adaptive algorithm misc adaptive control misc system identification misc multi-rotor misc uav misc Mechanical engineering and machinery misc Engineering machinery, tools, and implements Auto tuning adaptive I-PD control having an on-line system identification mechanism for industrial multi-rotor helicopters
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topic_title	TJ1-1570 TA213-215 Auto tuning adaptive I-PD control having an on-line system identification mechanism for industrial multi-rotor helicopters moving robot autonomy adaptive algorithm adaptive control system identification multi-rotor uav
topic	misc TJ1-1570 misc TA213-215 misc moving robot misc autonomy misc adaptive algorithm misc adaptive control misc system identification misc multi-rotor misc uav misc Mechanical engineering and machinery misc Engineering machinery, tools, and implements
topic_unstemmed	misc TJ1-1570 misc TA213-215 misc moving robot misc autonomy misc adaptive algorithm misc adaptive control misc system identification misc multi-rotor misc uav misc Mechanical engineering and machinery misc Engineering machinery, tools, and implements
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title	Auto tuning adaptive I-PD control having an on-line system identification mechanism for industrial multi-rotor helicopters
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title_full	Auto tuning adaptive I-PD control having an on-line system identification mechanism for industrial multi-rotor helicopters
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title_sort	auto tuning adaptive i-pd control having an on-line system identification mechanism for industrial multi-rotor helicopters
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title_auth	Auto tuning adaptive I-PD control having an on-line system identification mechanism for industrial multi-rotor helicopters
abstract	For unmanned helicopters to be used in industrial applications, autonomous flight control is necessary. This study aims to shorten the time required to tune a controller and design a stable control system for model variation of unmanned multi-rotor helicopters. Designing model based controllers requires a significant amount of time and effort for model identification and the tuning of controller parameters. Additionally, changes in the dynamics of the plant lead to deterioration of control performance. In this paper, we propose adaptive I-PD control having on-line system identification mechanism for change-of-altitude direction of a helicopter to solve the problems that have been presented. First, the calculation of the altitude model and system identification mechanism are described. In order to guarantee the minimum phase property of the altitude model, we use the delta operator for system identification. We show the accuracy of the altitude model and the validity of the proposed system identification algorithm using flight data. Next, we design an adaptive I-PD controller based on the identified parameters. I-PD gains are adjusted sequentially by a partial model matching method. Finally, we demonstrate the validity of the proposed control system by way of a flight experiment. The experimental result shows we were able to design a highly precise altitude controller in about 10 seconds.
abstractGer	For unmanned helicopters to be used in industrial applications, autonomous flight control is necessary. This study aims to shorten the time required to tune a controller and design a stable control system for model variation of unmanned multi-rotor helicopters. Designing model based controllers requires a significant amount of time and effort for model identification and the tuning of controller parameters. Additionally, changes in the dynamics of the plant lead to deterioration of control performance. In this paper, we propose adaptive I-PD control having on-line system identification mechanism for change-of-altitude direction of a helicopter to solve the problems that have been presented. First, the calculation of the altitude model and system identification mechanism are described. In order to guarantee the minimum phase property of the altitude model, we use the delta operator for system identification. We show the accuracy of the altitude model and the validity of the proposed system identification algorithm using flight data. Next, we design an adaptive I-PD controller based on the identified parameters. I-PD gains are adjusted sequentially by a partial model matching method. Finally, we demonstrate the validity of the proposed control system by way of a flight experiment. The experimental result shows we were able to design a highly precise altitude controller in about 10 seconds.
abstract_unstemmed	For unmanned helicopters to be used in industrial applications, autonomous flight control is necessary. This study aims to shorten the time required to tune a controller and design a stable control system for model variation of unmanned multi-rotor helicopters. Designing model based controllers requires a significant amount of time and effort for model identification and the tuning of controller parameters. Additionally, changes in the dynamics of the plant lead to deterioration of control performance. In this paper, we propose adaptive I-PD control having on-line system identification mechanism for change-of-altitude direction of a helicopter to solve the problems that have been presented. First, the calculation of the altitude model and system identification mechanism are described. In order to guarantee the minimum phase property of the altitude model, we use the delta operator for system identification. We show the accuracy of the altitude model and the validity of the proposed system identification algorithm using flight data. Next, we design an adaptive I-PD controller based on the identified parameters. I-PD gains are adjusted sequentially by a partial model matching method. Finally, we demonstrate the validity of the proposed control system by way of a flight experiment. The experimental result shows we were able to design a highly precise altitude controller in about 10 seconds.
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title_short	Auto tuning adaptive I-PD control having an on-line system identification mechanism for industrial multi-rotor helicopters
url	https://doi.org/10.1299/transjsme.15-00315 https://doaj.org/article/259151af0a9340f89215f100638d6f36 https://www.jstage.jst.go.jp/article/transjsme/82/834/82_15-00315/_pdf/-char/en https://doaj.org/toc/2187-9761
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author2	Tatsuya FURUI Daisuke IWAKURA Kenzo NONAMI
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up_date	2024-07-04T01:36:14.875Z
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Auto tuning adaptive I-PD control having an on-line system identification mechanism for industrial multi-rotor helicopters

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