Position/orientation control of an underactuated flight object based on two degree-of-freedom PID control

摘要

This research explores position/orientation control of an underactuated flight object based on two degree-of-freedom PID control. Helicopter is applied in large field because of flight ability such as vertical ascent, vertical descent and hovering. However the helicopter, which is one of the underactuated flight objects, is complex and a nonlinear dynamics. In this research, controlled target is two inputs three outputs underactuated flight object. The control strategy for the experimental device is examined by two degree-of-freedom PID control. This method aims to adjust target-tracking and disturbance-reduction ability independently.