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Pregled bibliografske jedinice broj: 913121

Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller

Wojciech Giernacki; Talar Sadalla; Jarosław Gośliński; Piotr Kozierski; João P. Coelho; Saša Sladić
Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller // Methods and Models in Automation and Robotics (MMAR), 2017 22nd International Conference on / Frank Allgower (ur.).
Międzybrodzie Żywieckie: Institute of Electrical and Electronics Engineers (IEEE), 2017. str. 993-998 doi:10.1109/MMAR.2017.8046965 (predavanje, međunarodna recenzija, sažetak, znanstveni)

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Naslov
Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller

Autori
Wojciech Giernacki ; Talar Sadalla ; Jarosław Gośliński ; Piotr Kozierski ; João P. Coelho ; Saša Sladić

Vrsta, podvrsta i kategorija rada
Sažeci sa skupova, sažetak, znanstveni

Izvornik
Methods and Models in Automation and Robotics (MMAR), 2017 22nd International Conference on / Frank Allgower - Międzybrodzie Żywieckie : Institute of Electrical and Electronics Engineers (IEEE), 2017, 993-998

ISBN
978-1-5386-2402-9

Skup
MMAR 2017- International Conference on Methods and Models in Automation and Robotics

Mjesto i datum
Międzyzdroje, Poljska, 28.08.2017. - 31.08.2017

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
fractional-order controller, speed controller, FOPI controller, linear BLDC motor model, propulsion unit, motor-rotor model, Hermite-Biehler and Pontryagin theorems

Sažetak
In 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?

Izvorni jezik
Engleski



POVEZANOST RADA

Profili:

Avatar Url Saša Sladić (autor)

Poveznice na cjeloviti tekst rada:

doi www.ieee-ras.org bibliotecadigital.ipb.pt

Citiraj ovu publikaciju:

Wojciech Giernacki; Talar Sadalla; Jarosław Gośliński; Piotr Kozierski; João P. Coelho; Saša Sladić
Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller // Methods and Models in Automation and Robotics (MMAR), 2017 22nd International Conference on / Frank Allgower (ur.).
Międzybrodzie Żywieckie: Institute of Electrical and Electronics Engineers (IEEE), 2017. str. 993-998 doi:10.1109/MMAR.2017.8046965 (predavanje, međunarodna recenzija, sažetak, znanstveni)
Wojciech Giernacki, Talar Sadalla, Jarosław Gośliński, Piotr Kozierski, João P. Coelho & Saša Sladić (2017) Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller. U: Frank Allgower (ur.)Methods and Models in Automation and Robotics (MMAR), 2017 22nd International Conference on doi:10.1109/MMAR.2017.8046965.
@article{article, year = {2017}, pages = {993-998}, DOI = {10.1109/MMAR.2017.8046965}, keywords = {fractional-order controller, speed controller, FOPI controller, linear BLDC motor model, propulsion unit, motor-rotor model, Hermite-Biehler and Pontryagin theorems}, doi = {10.1109/MMAR.2017.8046965}, isbn = {978-1-5386-2402-9}, title = {Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller}, keyword = {fractional-order controller, speed controller, FOPI controller, linear BLDC motor model, propulsion unit, motor-rotor model, Hermite-Biehler and Pontryagin theorems}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Mi\k{e}dzyzdroje, Poljska} }
@article{article, year = {2017}, pages = {993-998}, DOI = {10.1109/MMAR.2017.8046965}, keywords = {fractional-order controller, speed controller, FOPI controller, linear BLDC motor model, propulsion unit, motor-rotor model, Hermite-Biehler and Pontryagin theorems}, doi = {10.1109/MMAR.2017.8046965}, isbn = {978-1-5386-2402-9}, title = {Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller}, keyword = {fractional-order controller, speed controller, FOPI controller, linear BLDC motor model, propulsion unit, motor-rotor model, Hermite-Biehler and Pontryagin theorems}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Mi\k{e}dzyzdroje, Poljska} }

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