Browsing by Author "Sadalla, Talar"
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- Robust CDM and pole placement PID based thrust controllers for multirotor motor-rotor simplified modelPublication . Giernacki, Wojciech; Horla, Dariusz; Sadalla, Talar; Coelho, João PauloPositioning 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.
- Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controllerPublication . Giernacki, Wojciech; Sadalla, Talar; Gośliński, Jarosław; Kozierski, Piotr; Coelho, João Paulo; Sladić, SašaIn 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?