Search results for "PD control"

showing 2 items of 2 documents

Robust motion control of nonlinear quadrotor model with wind disturbance observer

2021

This paper focuses on robust wind disturbance rejection for nonlinear quadrotor models. By leveraging on nonlinear unknown observer theory, it proposes a nonlinear dynamic filter that, using sensors already on-board the aircraft, can estimate in real-time wind gust signals in the three dimensions. The wind disturbance is then treated as input to the PD controller for a quick and robust flight pathway in presence of disturbances. With this scheme, the wind disturbance can be precisely estimated online and compensated in real-time. Hence, the quadrotor can successfully reach its desired attitude and position. To show the effective and desired performance of the method, simulation results are …

General Computer ScienceObserver (quantum physics)PD controlComputer scienceGeneral EngineeringPID controllerNonlinear unknown input observersFilter (signal processing)Motion controlUnknown wind gust estimation and compensationTK1-9971Nonlinear systemControl theoryRobustness (computer science)QuadrotorGeneral Materials ScienceNonlinear unknown input observers; PD control; Quadrotor; Unknown wind gust estimation and compensationElectrical engineering. Electronics. Nuclear engineeringRobust controlMATLABcomputercomputer.programming_language
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INFLUENCE OF UNCERTAINTIES ON PD TUNING

2013

The aim of this work is to present a method for tuning the parameters of PD controller under the influences of the uncertainties, in order to stabilize the position of a rotor supported by active magnetic bearings (AMBs). The uncertainties are relative to mass, transverse and polar moment of inertia of the rotor. The introduction of the uncertainties is due to an incomplete modeled dynamic of the system or in the case the system being subjected to a parametric variation. The presence of the uncertainties produces a set of differences among the values of the output. Poles displacement method is used to reach the asymptotically stability condition characterized by a periodic oscillation durin…

PhysicsSettore ING-IND/14 - Progettazione Meccanica E Costruzione Di MacchineUncertainties active magnetic bearing PD controller shaftControl theoryMagnetic bearingPID controllerAngular velocityTransient responseRigid rotorMoment of inertiaImpulse (physics)Parametric statistics
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