Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm

In this paper, a real-time optimized PropotionalIntegral-Derivative (PID) controller for a three Degree of Freedom (3DOF) helicopter is proposed. The real-time optimization of the PID controller gains is performed by the extremum seeking algorithm. The system is an under-actuated mechanical syst...

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Main Authors: Ra'afat, Safanah M., Ali, Shahad S., Akmeliawati, Rini
Format: Conference or Workshop Item
Language:English
English
English
Published: IEEE 2015
Subjects:
Online Access:http://irep.iium.edu.my/50630/
http://irep.iium.edu.my/50630/
http://irep.iium.edu.my/50630/1/50603-Real-time_optimization_and_control_of_3DOF_helicopter_system_via_extremum_seeking_algorithm_Fullpaper.pdf
http://irep.iium.edu.my/50630/4/ASCC-organizer.pdf
http://irep.iium.edu.my/50630/7/50630_Real-time%20optimization%20and%20control%20of%203DOF%20helicopter%20system_Scopus.pdf
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recordtype eprints
spelling iium-506302017-05-08T01:42:22Z http://irep.iium.edu.my/50630/ Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm Ra'afat, Safanah M. Ali, Shahad S. Akmeliawati, Rini T Technology (General) In this paper, a real-time optimized PropotionalIntegral-Derivative (PID) controller for a three Degree of Freedom (3DOF) helicopter is proposed. The real-time optimization of the PID controller gains is performed by the extremum seeking algorithm. The system is an under-actuated mechanical system with high nonlinearity and high coupling among its states. Such system is affected by the outside disturbances which may affect the stability of the system and lead to instability. For these reasons, an advanced controller that is capable of tuning the controller gains adaptively to the sudden changes, has the ability of regulation and finding best tracking performance is required. The Extremum Seeking (ES) control is a paradigm that aims to find an extremum value of an unknown nonlinear mapping. Therefore, it will be useful to apply ESC to tune PID controller. Experimental results demonstrate that the tracking errors of elevation and pitch angles are converged to the vicinity of the desired operating points with high robustness IEEE 2015-05 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/50630/1/50603-Real-time_optimization_and_control_of_3DOF_helicopter_system_via_extremum_seeking_algorithm_Fullpaper.pdf application/pdf en http://irep.iium.edu.my/50630/4/ASCC-organizer.pdf application/pdf en http://irep.iium.edu.my/50630/7/50630_Real-time%20optimization%20and%20control%20of%203DOF%20helicopter%20system_Scopus.pdf Ra'afat, Safanah M. and Ali, Shahad S. and Akmeliawati, Rini (2015) Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm. In: 2015 10th Asian Control Conference (ASCC 2015), 31st May-3rd June 2015, Kota Kinabalu, Sabah. 10.1109/ASCC.2015.7244822
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
English
English
topic T Technology (General)
spellingShingle T Technology (General)
Ra'afat, Safanah M.
Ali, Shahad S.
Akmeliawati, Rini
Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm
description In this paper, a real-time optimized PropotionalIntegral-Derivative (PID) controller for a three Degree of Freedom (3DOF) helicopter is proposed. The real-time optimization of the PID controller gains is performed by the extremum seeking algorithm. The system is an under-actuated mechanical system with high nonlinearity and high coupling among its states. Such system is affected by the outside disturbances which may affect the stability of the system and lead to instability. For these reasons, an advanced controller that is capable of tuning the controller gains adaptively to the sudden changes, has the ability of regulation and finding best tracking performance is required. The Extremum Seeking (ES) control is a paradigm that aims to find an extremum value of an unknown nonlinear mapping. Therefore, it will be useful to apply ESC to tune PID controller. Experimental results demonstrate that the tracking errors of elevation and pitch angles are converged to the vicinity of the desired operating points with high robustness
format Conference or Workshop Item
author Ra'afat, Safanah M.
Ali, Shahad S.
Akmeliawati, Rini
author_facet Ra'afat, Safanah M.
Ali, Shahad S.
Akmeliawati, Rini
author_sort Ra'afat, Safanah M.
title Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm
title_short Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm
title_full Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm
title_fullStr Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm
title_full_unstemmed Real-time optimization and control of 3DOF helicopter system via extremum seeking algorithm
title_sort real-time optimization and control of 3dof helicopter system via extremum seeking algorithm
publisher IEEE
publishDate 2015
url http://irep.iium.edu.my/50630/
http://irep.iium.edu.my/50630/
http://irep.iium.edu.my/50630/1/50603-Real-time_optimization_and_control_of_3DOF_helicopter_system_via_extremum_seeking_algorithm_Fullpaper.pdf
http://irep.iium.edu.my/50630/4/ASCC-organizer.pdf
http://irep.iium.edu.my/50630/7/50630_Real-time%20optimization%20and%20control%20of%203DOF%20helicopter%20system_Scopus.pdf
first_indexed 2023-09-18T21:11:34Z
last_indexed 2023-09-18T21:11:34Z
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