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

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.

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Abstract

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

Item Type:	Conference or Workshop Item (Invited Papers)
Additional Information:	5806/50630
Uncontrolled Keywords:	Extremum Seeking, optimized PID, 3DOF helicopter system, Elevation, Pitch, online optimization, nonlinear mapping
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering
Depositing User:	Prof. Dr. Rini Akmeliawati
Date Deposited:	12 May 2016 14:41
Last Modified:	08 May 2017 09:42
URI:	http://irep.iium.edu.my/id/eprint/50630

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