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Robust CDM and pole placement PID based thrust controllers for multirotor motor-rotor simplified model
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Orientador(es)
Resumo(s)
Positioning and orientation precision of a multirotor aerial robot can be increased by using additional
control loops for each of the driving units. As a result, one can eliminate lack of balance between true thrust forces. A control performance comparison of two proposed thrust controllers, namely robust controller designed with coefficient diagram method (CDM) and proportional, integral and derivative (PID)
controller tuned with pole-placement law, is presented in the paper. The research has been conducted with respect to model/plant matching uncertainty and with the use of antiwindup compensators for a simple motor-rotor model approximated by first-order inertia plus delay. From the obtained simulation results one concludes that appropriate choice of AWC compensator improves tracking performance and increases robustness against parametric uncertainty.
Descrição
Palavras-chave
Coefficient diagram method Pole llacement Multirotor modeling Thrust controller Motor-rotor simplified model
Contexto Educativo
Citação
Giernacki, Wojciech; Horla, Dariusz; Sadalla, Talar; Coelho, J. P. (2016). Robust CDM and pole placement PID based thrust controllers for multirotor motor-rotor simplified model. In International Siberian Conference on Control and Communications - SIBCON. Moscovo: IEEE. ISBN 978-1-4673-8383-7