Performance comparisons between PID and adaptive PID controllers for travel angle control of a bench-top helicopter
This paper provides a comparative study on the performances of standard PID and adaptive PID controllers tested on travel angle of a 3-Degree-of-Freedom (3-DOF) Quanser bench-top helicopter. Quanser, a well-known manufacturer of educational bench-top helicopter has developed Proportional Integration...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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World Academy of Science
2015
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| Online Access: | http://psasir.upm.edu.my/id/eprint/45806/ http://psasir.upm.edu.my/id/eprint/45806/1/BENCH.pdf |
| _version_ | 1848850540435341312 |
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| author | Mansor, Hasmah Mohd Noor, Samsul Bahari Gunawan, Teddy Surya Khan, Sheroz Othman, N. I. Tazali, N. Islam, R. B. |
| author_facet | Mansor, Hasmah Mohd Noor, Samsul Bahari Gunawan, Teddy Surya Khan, Sheroz Othman, N. I. Tazali, N. Islam, R. B. |
| author_sort | Mansor, Hasmah |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | This paper provides a comparative study on the performances of standard PID and adaptive PID controllers tested on travel angle of a 3-Degree-of-Freedom (3-DOF) Quanser bench-top helicopter. Quanser, a well-known manufacturer of educational bench-top helicopter has developed Proportional Integration Derivative (PID) controller with Linear Quadratic Regulator (LQR) for all travel, pitch and yaw angle of the bench-top helicopter. The performance of the PID controller is relatively good; however, its performance could also be improved if the controller is combined with adaptive element. The objective of this research is to design adaptive PID controller and then compare the performances of the adaptive PID with the standard PID. The controller design and test is focused on travel angle control only. Adaptive method used in this project is self-tuning controller, which controller’s parameters are updated online. Two adaptive algorithms those are pole-placement and deadbeat have been chosen as the method to achieve optimal
controller’s parameters. Performance comparisons have shown that
the adaptive (deadbeat) PID controller has produced more desirable performance compared to standard PID and adaptive (poleplacement). The adaptive (deadbeat) PID controller attained very fast settling time (5 seconds) and very small percentage of overshoot (5% to 7.5%) for 10° to 30° step change of travel angle. |
| first_indexed | 2025-11-15T10:07:55Z |
| format | Article |
| id | upm-45806 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T10:07:55Z |
| publishDate | 2015 |
| publisher | World Academy of Science |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-458062021-04-30T09:30:22Z http://psasir.upm.edu.my/id/eprint/45806/ Performance comparisons between PID and adaptive PID controllers for travel angle control of a bench-top helicopter Mansor, Hasmah Mohd Noor, Samsul Bahari Gunawan, Teddy Surya Khan, Sheroz Othman, N. I. Tazali, N. Islam, R. B. This paper provides a comparative study on the performances of standard PID and adaptive PID controllers tested on travel angle of a 3-Degree-of-Freedom (3-DOF) Quanser bench-top helicopter. Quanser, a well-known manufacturer of educational bench-top helicopter has developed Proportional Integration Derivative (PID) controller with Linear Quadratic Regulator (LQR) for all travel, pitch and yaw angle of the bench-top helicopter. The performance of the PID controller is relatively good; however, its performance could also be improved if the controller is combined with adaptive element. The objective of this research is to design adaptive PID controller and then compare the performances of the adaptive PID with the standard PID. The controller design and test is focused on travel angle control only. Adaptive method used in this project is self-tuning controller, which controller’s parameters are updated online. Two adaptive algorithms those are pole-placement and deadbeat have been chosen as the method to achieve optimal controller’s parameters. Performance comparisons have shown that the adaptive (deadbeat) PID controller has produced more desirable performance compared to standard PID and adaptive (poleplacement). The adaptive (deadbeat) PID controller attained very fast settling time (5 seconds) and very small percentage of overshoot (5% to 7.5%) for 10° to 30° step change of travel angle. World Academy of Science 2015 Article PeerReviewed text en http://psasir.upm.edu.my/id/eprint/45806/1/BENCH.pdf Mansor, Hasmah and Mohd Noor, Samsul Bahari and Gunawan, Teddy Surya and Khan, Sheroz and Othman, N. I. and Tazali, N. and Islam, R. B. (2015) Performance comparisons between PID and adaptive PID controllers for travel angle control of a bench-top helicopter. International Journal of Electrical, Computer, Energetic, Electronic and Communication Engineering, 9 (1). pp. 35-40. ISSN 2088-8708; ESSN: 2722-2578 https://publications.waset.org/10000274/performance-comparisons-between-pid-and-adaptive-pid-controllers-for-travel-angle-control-of-a-bench-top-helicopter 10.5281/zenodo.1338022 |
| spellingShingle | Mansor, Hasmah Mohd Noor, Samsul Bahari Gunawan, Teddy Surya Khan, Sheroz Othman, N. I. Tazali, N. Islam, R. B. Performance comparisons between PID and adaptive PID controllers for travel angle control of a bench-top helicopter |
| title | Performance comparisons between PID and adaptive PID controllers for travel angle control of a bench-top helicopter |
| title_full | Performance comparisons between PID and adaptive PID controllers for travel angle control of a bench-top helicopter |
| title_fullStr | Performance comparisons between PID and adaptive PID controllers for travel angle control of a bench-top helicopter |
| title_full_unstemmed | Performance comparisons between PID and adaptive PID controllers for travel angle control of a bench-top helicopter |
| title_short | Performance comparisons between PID and adaptive PID controllers for travel angle control of a bench-top helicopter |
| title_sort | performance comparisons between pid and adaptive pid controllers for travel angle control of a bench-top helicopter |
| url | http://psasir.upm.edu.my/id/eprint/45806/ http://psasir.upm.edu.my/id/eprint/45806/ http://psasir.upm.edu.my/id/eprint/45806/ http://psasir.upm.edu.my/id/eprint/45806/1/BENCH.pdf |