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Improved IMC-Filter Design to IMC-PI Equivalence: Application to Quadrotor
- Source :
- 21st IFAC Symposium on Automatic Control in Aerospace (ACA 2019), 21st IFAC Symposium on Automatic Control in Aerospace (ACA 2019), Aug 2019, Cranfield, United Kingdom. pp.158--163, ⟨10.1016/j.ifacol.2019.11.190⟩
- Publication Year :
- 2019
- Publisher :
- HAL CCSD, 2019.
-
Abstract
- International audience; This paper proposes a method to reach the equivalence between an IMC and a PI controller regardless of the model order. To this end, the key idea consists of using a specific IMC filter that exhibits a good level of robustness and further leads to get a structure of a PI controller whatever the order of the model is. The developed procedure constitutes the main contribution of this paper. To meet given set of specifications, the controller parameters are tuned through a straightforward analytic way using the dynamics of the tracking error. Furthermore, in order to evaluate the efficiency level of this procedure, an application to control an autonomous vehicle is described and the simulation results are shown to be satisfactory.
- Subjects :
- 0209 industrial biotechnology
Computer science
020208 electrical & electronic engineering
PID controller
02 engineering and technology
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Tracking error
Filter design
020901 industrial engineering & automation
lPI controller
Control and Systems Engineering
Robustness (computer science)
Control theory
Quadrotor
0202 electrical engineering, electronic engineering, information engineering
IMC-Filter
Internal model contro
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Journal :
- 21st IFAC Symposium on Automatic Control in Aerospace (ACA 2019), 21st IFAC Symposium on Automatic Control in Aerospace (ACA 2019), Aug 2019, Cranfield, United Kingdom. pp.158--163, ⟨10.1016/j.ifacol.2019.11.190⟩
- Accession number :
- edsair.doi.dedup.....bca80b260ff0c7e0d1fe46e0b373d782