23 January 2017 Attitude angle anti-windup control of small size unmanned helicopter
Author Affiliations +
Proceedings Volume 10322, Seventh International Conference on Electronics and Information Engineering; 103220W (2017) https://doi.org/10.1117/12.2265218
Event: Seventh International Conference on Electronics and Information Engineering, 2016, Nanjing, China
Abstract
This paper researches the small-size unmanned helicopter attitude control problem with actuator saturation limit. Traditional approach for this problem is often based on an accurate dynamic model which is complicated and difficult to achieve in engineering. In this paper, we propose an anti-windup PID approach which does not rely on sophicated helicopter dynamic model. The anti-windup PID controller is established by adding a phase-lead compensator to the conventional PID controller. The performance and merits of this proposed controller are exemplified by the simulations between the conventional PID controller and the anti-windup PID controller.
© (2017) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Taizhou Shao, Taizhou Shao, Haihui Long, Haihui Long, Jiankang Zhao, Jiankang Zhao, Xuan Xia, Xuan Xia, Guang Yang, Guang Yang, } "Attitude angle anti-windup control of small size unmanned helicopter", Proc. SPIE 10322, Seventh International Conference on Electronics and Information Engineering, 103220W (23 January 2017); doi: 10.1117/12.2265218; https://doi.org/10.1117/12.2265218
PROCEEDINGS
6 PAGES


SHARE
Back to Top