Robustification of decentralized PID control for small unmanned rotorcraft

被引：0
|
作者：
Castillo-Effen, M. [1 ]
Castillo, C. L. [1 ]
Moreno, W. A. [1 ]
Valavanis, K. P. [2 ]
机构：
[1] Univ S Florida, Dept Elect Engn, Tampa, FL 33620 USA
[2] Univ S Florida, Dept Comp Sci & Engn, Tampa, FL 33620 USA
来源：
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 | 2007年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：2627 / +
页数：2
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