PID Control Design of a Two-Degree-of-Freedom Helicopter Based on Differential Evolution and its Experimental Verification

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.