むだ時間と拘束条件を考慮したRCヘリコプタの制御系設計と実験による検証(機械力学,計測,自動制御)

概要

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In this paper, we consider the control of systems with time-delay and constraints on states and control inputs. It is well-known that the presence of time-delay and physical constraints in dynamical systems causes the instability and performance degradation. In designing control laws for such systems, we apply the following approach. We design a predictive controller to stabilize the system with time-delay. The predictive controller guarantees the stability of the system and achieves the good tracking performance. Then we implement a reference governor to the stabilized system with considering the constraints. The reference governor modifies reference signals given to the system so as not to violate constraints. We apply the proposed method to an RC (Radio Controlled) helicopter control system. The effectiveness of our approach is evaluated through simulations and experiments of the yaw angle control of RC helicopter.
一般社団法人日本機械学会の論文
2009-12-25