Title :
Plant identification and predictive control of a scaled-model helicopter
Author :
Khaldi, Mohamad R. ; Abiad, Hassan H EI ; Chamchoum, Sayed ; Ahad, E.A.
Author_Institution :
Electr. Eng. Dept., Univ. of Balamand, Tripoli, Lebanon
Abstract :
Scaled-model helicopters are highly nonlinear, coupled, and unstable machines. They have fast response and controlling them is very complicated and need high degree of precision. In this paper, a detailed nonlinear model is derived. Based upon input/output measurements of the nonlinear model, the dynamics of every channel are identified and Linear State Space Models (LSSMs) are obtained. Model Predictive Control (MPC) and optimal PID controller are designed for the obtained LSSM and then applied to the nonlinear plant and the results were compared.
Keywords :
aircraft control; control system synthesis; helicopters; identification; nonlinear control systems; optimal control; predictive control; three-term control; input-output measurement; linear state space model; model predictive control; nonlinear model; optimal PID controller; plant identification; precision degree; scaled-model helicopter; unstable machine; Aerodynamics; Drag; Helicopters; Optimal control; Predictive control; Predictive models; Rotors; Stability; Tail; Three-term control;
Conference_Titel :
Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on
Conference_Location :
Seoul
Print_ISBN :
978-1-4244-4347-5
Electronic_ISBN :
978-1-4244-4349-9
DOI :
10.1109/ISIE.2009.5213061
