Robust CDM and pole placement PID based thrust controllers for multirotor motor-rotor simplified model: The comparison in a context of using anti-windup compensation

• Published in: 2016 International Siberian Conference on Control and Communications (SIBCON) pp. 1 - 5
• Main Authors: Giernacki, Wojciech, Horla, Dariusz, Sadalla, Talar, Coelho, Joao Paulo
• Format: Conference Proceeding Journal Article
• Language: English
• Published: IEEE 01.05.2016
• Subjects: Anti-windup; Closed loop systems; Coefficient Diagram Method; Compensation; Compensators; Controllers; Data models; Electronics; Mathematical model; motor-rotor simplified model; multirotor modeling; Pole Placement; Robots; Robustness; Thrust; thrust controller; Transfer functions; Uncertainty
• ISSN: 2380-6516
• DOI: 10.1109/SIBCON.2016.7491826

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 anti-windup 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.