Giernacki, WojciechHorla, DariuszSadalla, TalarCoelho, João Paulo2016-09-052016-09-052016Giernacki, 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 978-1-4673-8383-7http://hdl.handle.net/10198/13180Positioning 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.engCoefficient diagram methodPole llacementMultirotor modelingThrust controllerMotor-rotor simplified modelconference object