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Proceedings Paper

Attitude angle anti-windup control of small size unmanned helicopter
Author(s): Taizhou Shao; Haihui Long; Jiankang Zhao; Xuan Xia; Guang Yang
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Paper Abstract

This paper researches the small-size unmanned helicopter attitude control problem with actuator saturation limit. Traditional approach for this problem is often based on an accurate dynamic model which is complicated and difficult to achieve in engineering. In this paper, we propose an anti-windup PID approach which does not rely on sophicated helicopter dynamic model. The anti-windup PID controller is established by adding a phase-lead compensator to the conventional PID controller. The performance and merits of this proposed controller are exemplified by the simulations between the conventional PID controller and the anti-windup PID controller.

Paper Details

Date Published: 23 January 2017
PDF: 6 pages
Proc. SPIE 10322, Seventh International Conference on Electronics and Information Engineering, 103220W (23 January 2017); doi: 10.1117/12.2265218
Show Author Affiliations
Taizhou Shao, Shanghai Jiao Tong Univ. (China)
Haihui Long, Shanghai Jiao Tong Univ. (China)
Jiankang Zhao, Shanghai Jiao Tong Univ. (China)
Xuan Xia, Shanghai Jiao Tong Univ. (China)
Guang Yang, Shanghai Key Lab. of Aerospace Intelligent Control Technology (China)

Published in SPIE Proceedings Vol. 10322:
Seventh International Conference on Electronics and Information Engineering
Xiyuan Chen, Editor(s)

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