Publication
Robust CDM and pole placement PID based thrust controllers for multirotor motor-rotor simplified model
| dc.contributor.author | Giernacki, Wojciech | |
| dc.contributor.author | Horla, Dariusz | |
| dc.contributor.author | Sadalla, Talar | |
| dc.contributor.author | Coelho, João Paulo | |
| dc.date.accessioned | 2016-09-05T10:03:28Z | |
| dc.date.available | 2016-09-05T10:03:28Z | |
| dc.date.issued | 2016 | |
| dc.description.abstract | 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. | pt_PT |
| dc.identifier.citation | 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 | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10198/13180 | |
| dc.language.iso | eng | pt_PT |
| dc.peerreviewed | yes | pt_PT |
| dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | pt_PT |
| dc.subject | Coefficient diagram method | pt_PT |
| dc.subject | Pole llacement | pt_PT |
| dc.subject | Multirotor modeling | pt_PT |
| dc.subject | Thrust controller | pt_PT |
| dc.subject | Motor-rotor simplified model | pt_PT |
| dc.title | Robust CDM and pole placement PID based thrust controllers for multirotor motor-rotor simplified model | pt_PT |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.citation.conferencePlace | Moscovo, Russia | pt_PT |
| oaire.citation.title | International Siberian Conference on Control and Communications - SIBCON 2016 | pt_PT |
| person.familyName | Coelho | |
| person.givenName | João Paulo | |
| person.identifier | R-001-EXZ | |
| person.identifier.ciencia-id | D61E-A586-7D4A | |
| person.identifier.orcid | 0000-0002-7616-1383 | |
| person.identifier.rid | J-6887-2013 | |
| person.identifier.scopus-author-id | 55137039300 | |
| rcaap.rights | restrictedAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
| relation.isAuthorOfPublication | 2861f33b-b49a-421d-9bfa-92b4304d2668 | |
| relation.isAuthorOfPublication.latestForDiscovery | 2861f33b-b49a-421d-9bfa-92b4304d2668 |