A new indirect self-tuning control algorithm for MIMO systems with varying time-delays

2003 ◽  
Author(s):  
Shuangxin Wang ◽  
Hengjun Zhu
Keyword(s):  
Time Delays ◽  
Control Algorithm ◽  
Mimo Systems ◽  
Self Tuning

A self-tuning controller for systems with unknown or varying time delays†

1985 ◽  
Vol 42 (4) ◽  
pp. 949-964 ◽  
Author(s):  
L-L. CHIEN ◽  
D. E. SEBORG ◽  
D. A. MELLICHAMP
Keyword(s):  
Time Delays ◽  
Self Tuning

scholarly journals Model Predictive Control for a Small Scale Unmanned Helicopter

10.5772/10583 ◽  
2008 ◽  
Vol 5 (4) ◽  
pp. 34 ◽  
Author(s):  
Jianfu Du ◽  
Konstantin Kondak ◽  
Markus Bernard ◽  
Yaou Zhang ◽  
Tiansheng Lü ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Time Delays ◽  
Control Algorithm ◽  
Controller Design ◽  
Control Mode ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Dynamical Equations ◽  
Novel Method

Kinematical and dynamical equations of a small scale unmanned helicoper are presented in the paper. Based on these equations a model predictive control (MPC) method is proposed for controlling the helicopter. This novel method allows the direct accounting for the existing time delays which are used to model the dynamics of actuators and aerodynamics of the main rotor. Also the limits of the actuators are taken into the considerations during the controller design. The proposed control algorithm was verified in real flight experiments where good perfomance was shown in postion control mode.

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