An attitude control strategy based on Ziegler-Nichols rules for tuning PD (proportional-derivative) parameters of quadrotor helicopters is presented to solve the problem that quadrotor tends to be instable. This problem is caused by the narrow definition domain of attitude angles of quadrotor helicopters. The proposed controller is nonlinear and consists of a linear part and a nonlinear part. T...

Predictive fuzzy PID control theory is developed in this paper, which o€ers a new approach for robust control of time-delay systems. The paper describes the functional structure, design principle, and stability analysis of a new predictive fuzzy PID controller. Sucient computer simulations are provided for illustration and veri®cation. First, the structure of the controller is derived from bot...

A recently suggested general anti-windup (AW) compensation scheme is applied to the nonlinear simulation model of the 1 16 scaled BAe Hawk aircraft model used for wind tunnel experiments. The Hawk is modelled as a nonlinear affine system subject to input constraints and has a primary control system consisting of an inner-loop nonlinear dynamic inversion controller and an outer-loop linear PID c...

A PID-deadtime controller is realized by inserting a time delay into the integral feedback circuit. Such a controller possesses a transfer function similar to a Smith predictor or an internal-model controller. Effective tuning of PID deadtime controllers remains unsolved even though they give better regulatory performance than a conventional PID control algorithm for processes with a long pure ...

In this paper the nonlinear H1 con trol for robot manipulators introduced in (F eng, W., P ostleth w aite, I., 1994) is extended. An additional in tegral term is included to cope with persistent disturbances, such as constant weigh ts at theendefecctor. The extended controller is in terpreted like a computed torque control with and external PID, whose gain matrices vary with the position and ve...

This paper is concerned with the formulation of a process knowledge based controller (PKBC) for maneuverability improvement of nonlinear processes operation. The capacity for empirical knowledge acquisition from artificial intelligence systems was utilized in the development of the strategy. The PKBC is a neuro-fuzzy system obtained from process data. The GT 5001 type is the selected nonlinear ...

Implementation of effective control schemes for Nonlinear Systems is currently being studied comprehensively. In this paper, robust control schemes for trajectory tracking of Nonlinear Permanent Magnet Stepper Motor system has been proposed. Direct Quadrature (DQ) transformation technique has been employed to convert the system dynamics to DQ frame. Initially, a conventional PID controller alon...