Yamamoto, Yoshino

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Yamamoto, Yoshino
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Yamamoto, Yoshio
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yoshino.ya@kmitl.ac.th

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    Item type:Publication,
    Adaptive PID for controlling a quadrotor in a virtual outdoor scenario: Simulation study
    (2013-11-25)
    Moonumca, Pisan
    ;
    Yamamoto, Yoshio
    ;
    Depaiwa, Nattawoot
    The main purpose of this paper is to develop a robust control methodology for unmanned aerial vehicles such as a quadrotor. A conventional proportional-integral-derivative (PID) controller is augmented with adaptive K<inf>P</inf> or non-adaptive K<inf>P</inf> in a throttle input and the both cases are compared and analyzed. Adaptive K<inf>P</inf> is suitable for a system which is subjected to parameter uncertainty, such as variation in payload or wind speed, as the algorithm is able to adjust the K<inf>P</inf> gain of the PID controller so that they maintain robustness and performance. The performance results of the two controllers when applied to a quadrotor are demonstrated using numerical simulation. © 2013 IEEE.
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    Tuning PID controller using genetic algorithms for electro-hydraulic system with tracking force control
    (2014-01-01)
    Moonumca, Pisan
    ;
    Depaiwa, Nattawoot
    ;
    Yamamoto, Yoshio
    The aim of this paper is design a controller for force control of an Electro-Hydraulic System and selection of a PID gains are using genetic algorithm. The mathematical model is considered as the Newton second law and compressible fluid flow theory. This paper compares two kinds of tuning methods for PID controller. One is the controller design by the genetic algorithm, second is the controller design by the Ziegler and Nichols method. Each PID gains are tested with step input function, square signal, half-sine signal and half-saw signal. And results show performance index with rise time, settling time and Maximum %OS. It was found that the proposed PID gains tuning by the genetic algorithm is better than the Ziegler & Nichols' method. © (2014) Trans Tech Publications, Switzerland.