Robust CDM and Pole Placement PID Based Thrust Controllers for Multirotor Motor-Rotor Simplified Model
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee | [ D ] phd student
2016
paper
english
- coefficient diagram method
- pole placement
- multirotor modeling
- motor-rotor simplified model
- thrust controller
EN 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.
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