抄録
In this study, we design the adaptive control system for multi-rotor helicopter. Currently, multi-rotor helicopter has been used not only for research and development but also many practical tasks. However, controller tuning of the multi-rotor helicopter is still depend on human operator, and it is an obstacle for construction of the market of the multi-rotor helicopter. On such background, Simple Adaptive Control (SAC) is applied to the multi-rotor helicopter to realize auto-tuning system. Firstly, mathematical model of the helicopter is derived. Next, adaptive PID controller with Parallel Feedforward Compensator (PFC) is designed based on derived mathematical model. Finally, numerical simulation is carried out to verify the effectiveness of proposed adaptive control system.
