Robustification of decentralized PID control for small unmanned rotorcraft

Author

Castillo-Effen, M. ; Castillo, C.L. ; Moreno, W.A. ; Valavanis, K.P.

Author_Institution

Univ. of South Florida, Tampa

fYear

2007

fDate

Oct. 29 2007-Nov. 2 2007

Firstpage

2621

Lastpage

2627

Abstract

This paper presents a practical and simple approach to the design of autonomous flight control of miniature helicopters. It considers a standard easily tunable PID control as the starting step of the design. Then, robust loop-shaping techniques are applied to derive a controller with optimal properties with respect to robustness, noise sensitivity, and bandwidth. Comprehensive analysis and simulation experiments show the validity and practicality of the proposed control design and analysis procedures.

Keywords

aircraft control; control system analysis; control system synthesis; decentralised control; helicopters; remotely operated vehicles; robust control; three-term control; PID control; autonomous flight control; control analysis; control design; decentralized control; miniature helicopters; noise sensitivity; robust loop-shaping techniques; unmanned rotorcraft; Aerodynamics; Control design; Control systems; Fuzzy logic; Helicopters; Noise robustness; Robust control; Three-term control; Unmanned aerial vehicles; Vibration measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on

Conference_Location

San Diego, CA

Print_ISBN

978-1-4244-0912-9

Electronic_ISBN

978-1-4244-0912-9

Type

conf

DOI

10.1109/IROS.2007.4399405

Filename

4399405