Modeling, system identification and PID-A controller for tethered unmanned quad-rotor helicopter

Tarek N. Dief, Mohamed M. Kamra, Shigeo Yoshida

研究成果: ジャーナルへの寄稿記事

1 引用 (Scopus)

抄録

In this paper, a strategy for the preliminary design of Quad-Rotor problem with emphasis on utilizing system identification methods for system modeling.is presented. The algorithm of forgetting least square is applied for the real-time prediction of the system parameters. The presented strategy is applied to the mass-varying tethered Quad-Rotor. The presented system identification method provides the model parameters while the adaptive (Proportional, Integral, Derivative, and Accelerator) PID-A controller controls the system response in real-time flight. In this paper, a mathematical model for the Quad-Rotor is derived. The sensitivity analysis of the system is provided in detail. Then, a system identification algorithm is applied to study the change in parameters during flight. PID-A controller is designed to stabilize the system with mass-varying consideration. Finally, Simulation results of the full system are presented.

元の言語英語
ページ(範囲)215-223
ページ数9
ジャーナルInternational Review of Aerospace Engineering
10
発行部数4
DOI
出版物ステータス出版済み - 1 1 2017

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Helicopter rotors
Identification (control systems)
Rotors
Controllers
Sensitivity analysis
Particle accelerators
Mathematical models
Derivatives
Elvitegravir, Cobicistat, Emtricitabine, Tenofovir Disoproxil Fumarate Drug Combination

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Aerospace Engineering
  • Fluid Flow and Transfer Processes
  • Electrical and Electronic Engineering

これを引用

Modeling, system identification and PID-A controller for tethered unmanned quad-rotor helicopter. / Dief, Tarek N.; Kamra, Mohamed M.; Yoshida, Shigeo.

:: International Review of Aerospace Engineering, 巻 10, 番号 4, 01.01.2017, p. 215-223.

研究成果: ジャーナルへの寄稿記事

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