Full Control of Quadrotor Aerial Robot Using Fractional-Order FOPID

Abstract

This article presents a new design of fractional order $$P I^\\lambda \\ D^\\mu $$PIλDμ, for the full control of quadrotor (attitude and position)using a modified Black–Nichols method. First, we use single-input–single-output approach to design fractional-order $$P I^\\lambda \\ D^\\mu $$PIλDμ controllers for each position and attitude component. After that, we employ the same $$P I^\\lambda \\ D^\\mu $$PIλDμ controllers in the multiple-input–multiple-output model of quadrotor to test their performance. It is shown that we can improve the robustness and performance of the control significantly. Fractional-order modeling and control toolbox is used with Simulink model of quadrotor to prove and validate the performance of our controllers considering several scenarios.