Direct synthesis approach to design PDmu based Smith predictor for integrating plants: studied on a quadrotor UAV

Ranjan, Anjana and Mehta, Utkal V. and Prakash, Surya and Azid, Sheikh I. (2024) Direct synthesis approach to design PDmu based Smith predictor for integrating plants: studied on a quadrotor UAV. The Journal of Engineering, 2024 (4). NA. ISSN 2051-3305

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Abstract

This article presents a simple yet novel method of designing a fractional-order proportional derivative (namely, PDmu
) controller for all types of integrating plants. Considering the importance of the direct synthesis approach, the method obtains robust closed-loop performance. The setpoint parameter is obtained using the multi-optimization Pareto solution, considering the optimal values in control efforts and performance index together. The numerical investigations have shown improved servo and regulatory responses compared to recently published strategies with fractional orders. It is also known that classical PIDs cannot accurately follow a ramp setpoint. A real-world situation also demands that the reference inputs become an acceleration ramp type. The proposed technique can handle rising ramp setpoints with plant uncertainty and measurement noise. Hardware verification is also performed on a quadrotor minidrone to check for real-time issues.

Item Type:	Journal Article
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > Robotics and Automation
Divisions:	School of Information Technology, Engineering, Mathematics and Physics (STEMP)
Depositing User:	Utkal Mehta
Date Deposited:	30 Jan 2025 00:47
Last Modified:	30 Jan 2025 00:47
URI:	https://repository.usp.ac.fj/id/eprint/14729

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