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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/18979

Title: 應用智慧型控制於非線性雙旋轉翼多輸入多輸出系統之研究(III)
A Study of Intelligent Control for a Nonlinear Twin Rotor Multi-Input Multi-Output System(III)
Authors: 莊季高
Contributors: NTOU:Department of Communications Navigation and Control Engineering
Keywords: 智慧型控制;模糊系統;基因演算法;灰色理論;自動駕駛器
Date: 2006-08
Issue Date: 2011-08-17T07:05:53Z
Abstract: abstract:This project proposes a fuzzy switching grey prediction PID controller to an experimental propeller setup which is called the twin rotor multi-input multi-output system (TRMS). The goal of this study is to stabilize the TRMS in significant cross coupling conditions and to experiment with set-point control and trajectory tracking. The proposed scheme enhances the grey prediction method of difference equations, which is a single variable second order grey model (DGM(2,1) model). It is performed by a real-valued genetic algorithm (RGA) with a system performance index as fitness function. We apply the integral of time multiplied by the square error criterion (ITSE) to form a suitable fitness function in RGA. Simulation results show that the proposed design can successfully adapt to system nonlinearity and complex coupling conditions. Computer simulations show that the proposed approach has better performance than pervious works. For real time control, Xilinx Spartan II SP200 FPGA is employed to construct a hardware-in-the-loop system.
Relation: NSC95-2221-E019-054
URI: http://ntour.ntou.edu.tw/handle/987654321/18979
Appears in Collections:[通訊與導航工程學系] 研究計畫

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