Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
Papers
PID Control Design of a Two-Degree-of-Freedom Helicopter Based on Differential Evolution and its Experimental Verification
Yuma YoshikawaMasakatsu Kawata
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JOURNALS OPEN ACCESS

2017 Volume 30 Issue 11 Pages 411-419

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Abstract

Our two-degree-of-freedom helicopter apparatus is a nonlinear and multiple-input multiple-output system. Therefore, it is difficult to design the controller which guarantees the desired performance in the wide range. In this paper, we design I-PD controller based on the DE (differential evolution) method, which is one of evolutionary computing algorithms, in consideration of the nonlinearity and the cross coupling. Finally, the validity of our designing method is shown through some experiments.

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© 2017 The Institute of Systems, Control and Information Engineers
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