Comparison of tracking performance and robustness of the simplified model of multirotor aerial robot with CDM and PID (with anti-windup compensation) controllers

Abstract

The main aim of this article is a comparison of two tuning methods, CDM (Coefficient Diagram Method) and PID (proportional-integral-derivative) based on the pole placement with five different anti-windup compensators. For three most common used in multirotor aerial robots propulsion unit examples, that present different physical and dynamical properties (i.e. thrusts), authors proposed simplified mathematical models (first order with time-delay). First type of models was obtained by the estimation based on MATLAB System Identification Toolbox, the second one was estimated by graphical method and empirically fitting the date to the model. The thrust characteristics were recorded on the test stand and used for the model parametrization. Tuning methods (CDM algorithm and pole placement) are briefly described in further part of this paper in the context of tracking performance and tolerance for parameters uncertainty. The comparison was based on two integral quality indices types: IAE and ISE.