Publicação
Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller
| Resumo: | 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? |
|---|---|
| Autores principais: | Giernacki, Wojciech |
| Outros Autores: | Sadalla, Talar; Gośliński, Jarosław; Kozierski, Piotr; Coelho, João Paulo; Sladić, Saša |
| Assunto: | Fractional-order controller Speed controller FOPI controller Linear BLDC motor model Propulsion unit Motor-rotor model |
| Ano: | 2017 |
| País: | Portugal |
| Tipo de documento: | comunicação em conferência |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Instituto Politécnico de Bragança |
| Idioma: | inglês |
| Origem: | Biblioteca Digital do IPB |
| _version_ | 1867173171452444672 |
|---|---|
| author | Giernacki, Wojciech |
| author2 | Sadalla, Talar Gośliński, Jarosław Kozierski, Piotr Coelho, João Paulo Sladić, Saša |
| author2_role | author author author author author |
| author_facet | Giernacki, Wojciech Sadalla, Talar Gośliński, Jarosław Kozierski, Piotr Coelho, João Paulo Sladić, Saša |
| author_role | author |
| contributor_name_str_mv | Biblioteca Digital do IPB |
| country_str | PT |
| creators_json_txt | [{\"Person.name\":\"Giernacki, Wojciech\"},{\"Person.name\":\"Sadalla, Talar\"},{\"Person.name\":\"Gośliński, Jarosław\"},{\"Person.name\":\"Kozierski, Piotr\"},{\"Person.name\":\"Coelho, João Paulo\",\"Person.identifier.orcid\":\"0000-0002-7616-1383\"},{\"Person.name\":\"Sladić, Saša\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Biblioteca Digital do IPB |
| datacite.creators.creator.creatorName.fl_str_mv | Giernacki, Wojciech Sadalla, Talar Gośliński, Jarosław Kozierski, Piotr Coelho, João Paulo Sladić, Saša |
| datacite.date.Accepted.fl_str_mv | 2017-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2017-09-28T08:46:43Z |
| datacite.date.embargoed.fl_str_mv | 2017-09-28T08:46:43Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| datacite.subjects.subject.fl_str_mv | Fractional-order controller Speed controller FOPI controller Linear BLDC motor model Propulsion unit Motor-rotor model |
| datacite.titles.title.fl_str_mv | Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller |
| dc.contributor.none.fl_str_mv | Biblioteca Digital do IPB |
| dc.creator.none.fl_str_mv | Giernacki, Wojciech Sadalla, Talar Gośliński, Jarosław Kozierski, Piotr Coelho, João Paulo Sladić, Saša |
| dc.date.Accepted.fl_str_mv | 2017-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2017-09-28T08:46:43Z |
| dc.date.embargoed.fl_str_mv | 2017-09-28T08:46:43Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://hdl.handle.net/10198/14552 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.cclincense.fl_str_mv | http://creativecommons.org/licenses/by/4.0/ |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| dc.subject.none.fl_str_mv | Fractional-order controller Speed controller FOPI controller Linear BLDC motor model Propulsion unit Motor-rotor model |
| dc.title.fl_str_mv | Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_5794 |
| description | 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? |
| dirty | 0 |
| eu_rights_str_mv | openAccess |
| format | conferencePaper |
| fulltext.url.fl_str_mv | https://bibliotecadigital.ipb.pt/bitstreams/53fc3595-05de-4edb-aaf9-901206358b37/download |
| id | ipb_ce668e503a266bca3fb45e58ed3f27ea |
| identifier.url.fl_str_mv | http://hdl.handle.net/10198/14552 |
| instacron_str | ipb |
| institution | Instituto Politécnico de Bragança |
| instname_str | Instituto Politécnico de Bragança |
| language | eng |
| network_acronym_str | ipb |
| network_name_str | Biblioteca Digital do IPB |
| oai_identifier_str | oai:bibliotecadigital.ipb.pt:10198/14552 |
| organization_str_mv | urn:organizationAcronym:ipb |
| person_str_mv | Giernacki, Wojciech Sadalla, Talar Gośliński, Jarosław Kozierski, Piotr Coelho, João Paulo Coelho, João Paulo https://www.ciencia-id.pt/D61E-A586-7D4A D61E-A586-7D4A http://orcid.org/0000-0002-7616-1383 0000-0002-7616-1383 Sladić, Saša |
| publishDate | 2017 |
| reponame_str | Biblioteca Digital do IPB |
| repository_id_str | urn:repositoryAcronym:ipb |
| service_str_mv | urn:repositoryAcronym:ipb |
| spelling | engpt_PTIn 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?application/pdfpt_PTRotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controllerGiernacki, WojciechSadalla, TalarGośliński, JarosławKozierski, PiotrPersonalCoelho, João PauloDSpacehttp://dspace.org/items/2861f33b-b49a-421d-9bfa-92b4304d2668DSpacehttp://dspace.org/items/2861f33b-b49a-421d-9bfa-92b4304d2668CoelhoJoão PauloCiência IDhttps://www.ciencia-id.ptD61E-A586-7D4AORCIDhttp://orcid.org0000-0002-7616-1383Researcher IDhttps://www.researcherid.comJ-6887-2013Scopus Author IDhttps://www.scopus.com55137039300Sladić, SašaHostingInstitutionOrganizationalBiblioteca Digital do IPBe-mailmailto:dspace@ipb.ptdspace@ipb.pt2017-09-28T08:46:43Z20172017-01-01T00:00:00ZHandlehttp://hdl.handle.net/10198/14552http://purl.org/coar/access_right/c_abf2open accessFractional-order controllerSpeed controllerFOPI controllerLinear BLDC motor modelPropulsion unitMotor-rotor model3922516 bytesother research producthttp://purl.org/coar/resource_type/c_5794conference paper2017http://creativecommons.org/licenses/by/4.0/http://purl.org/coar/access_right/c_abf2application/pdffulltexthttps://bibliotecadigital.ipb.pt/bitstreams/53fc3595-05de-4edb-aaf9-901206358b37/download22nd International Conference on Methods and Models in Automation and RoboticsMiędzyzdroje, Poland |
| spellingShingle | Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller Giernacki, Wojciech Fractional-order controller Speed controller FOPI controller Linear BLDC motor model Propulsion unit Motor-rotor model |
| status | SINGLETON |
| subject.fl_str_mv | Fractional-order controller Speed controller FOPI controller Linear BLDC motor model Propulsion unit Motor-rotor model |
| title | Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller |
| title_full | Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller |
| title_fullStr | Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller |
| title_full_unstemmed | Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller |
| title_short | Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller |
| title_sort | Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller |
| topic | Fractional-order controller Speed controller FOPI controller Linear BLDC motor model Propulsion unit Motor-rotor model |
| topic_facet | Fractional-order controller Speed controller FOPI controller Linear BLDC motor model Propulsion unit Motor-rotor model |
| url | http://hdl.handle.net/10198/14552 |
| visible | 1 |