Attitude angle anti-windup control of small size unmanned helicopter

Taizhou Shao; Haihui Long; Jiankang Zhao; Xuan Xia; Guang Yang

doi:10.1117/12.2265218

23 January 2017 Attitude angle anti-windup control of small size unmanned helicopter

Taizhou Shao, Haihui Long, Jiankang Zhao, Xuan Xia, Guang Yang

Proceedings Volume 10322, Seventh International Conference on Electronics and Information Engineering; 103220W (2017) https://doi.org/10.1117/12.2265218
Event: Seventh International Conference on Electronics and Information Engineering, 2016, Nanjing, China

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.

Citation Download Citation

Taizhou Shao, Haihui Long, Jiankang Zhao, Xuan Xia, and Guang Yang "Attitude angle anti-windup control of small size unmanned helicopter", Proc. SPIE 10322, Seventh International Conference on Electronics and Information Engineering, 103220W (23 January 2017); https://doi.org/10.1117/12.2265218

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