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Publication
Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller
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Advisor(s)
Abstract(s)
In this paper the synthesis of a rotational speed
closed-loop control system based on a fractional-order
proportional-integral (FOPI) controller is presented. In particular,
it is proposed the use of the SCoMR-FOPI procedure as the
controller tuning method for an unmanned aerial vehicle’s
propulsion unit. In this framework, both the Hermite-Biehler
and Pontryagin theorems are used to predefine a stability region
for the controller. Several simulations were conducted in order to
try to answer the questions – is the FOPI controller good enough
to be an alternative to more complex FOPID controllers? In what
circumstances can it be advantageous over the ubiquitous PID?
How robust this fractional-order controller is regarding the parametric uncertainty of considered propulsion unit model?
Description
Keywords
Fractional-order controller Speed controller FOPI controller Linear BLDC motor model Propulsion unit Motor-rotor model
Pedagogical Context
Citation
Giernacki, Wojciech; Sadalla, Talar; Gośliński, Jarosław; Kozierski, Piotr; Coelho, J.P.; Sladić, Saša (2017). Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller. In 22nd International Conference on Methods and Models in Automation and Robotics. Międzyzdroje, Poland