Original scientific paper
https://doi.org/10.1080/00051144.2018.1456098
Stability region of a simplified multirotor motor–rotor model with time delay and fractional-order PD controller
Talar Sadalla
; Institute of Control, Robotics and Information Engineering, Faculty of Electrical Engineering, Poznan University of Technology, Poznan, Poland
Dariusz Horla
; Institute of Control, Robotics and Information Engineering, Faculty of Electrical Engineering, Poznan University of Technology, Poznan, Poland
Wojciech Giernacki
; Institute of Control, Robotics and Information Engineering, Faculty of Electrical Engineering, Poznan University of Technology, Poznan, Poland
Abstract
The main aim of this paper is to present stability region analysis for a closed-loop system with the second-order model with a time delay and continuous-time fractional-order proportionalderivative (PD) controller. The model of the plant used in the paper approximates the dynamics
of a simplified motor–rotor model of multirotor’s propulsion system. The controller tuning method is based on Hermite–Biehler and Pontryagin theorems. The tracking performance is also analysed in the paper by observing the integral of absolute error and integral of squared error indices. The presented results are expected to be useful in future when comparing simulation with experimental results.
Keywords
Fractional-order PD controller; second-order model with time delay; quadrotor motor–rotor model; stability regions; Hermite–Biehler theorem; Pontryagin theorem; quasipolynomial
Hrčak ID:
203408
URI
Publication date:
18.6.2018.
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