Giernacki, WojciechSadalla, TalarGośliński, JarosławKozierski, PiotrCoelho, João PauloSladić, Saša2017-09-282017-09-282017Giernacki, 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, Polandhttp://hdl.handle.net/10198/14552In 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?engFractional-order controllerSpeed controllerFOPI controllerLinear BLDC motor modelPropulsion unitMotor-rotor modelconference paper