6533b830fe1ef96bd12966e1

RESEARCH PRODUCT

Improved Performance in Quadrotor Trajectory Tracking Using MIMO PIλ-D Control

Vivek Pawan ShankaranSheikh Izzal AzidUtkal MehtaAdriano Fagiolini

subject

OptimizationGeneral Computer ScienceTrajectory trackingQuadrotorStability boundary surfaceFractional-order controlGeneral EngineeringGeneral Materials ScienceElectrical and Electronic EngineeringReal-timeMIMO system

description

This paper aims to develop a fractional control approach for quadrotor trajectory tracking. A fractional-order integrator (PIλ) with a feedback derivative scheme is designed to control each state of the MIMO system. The designed feedback controller stabilizes the initially unstable decoupled states and widens the stability, while PIλ provides precise trajectory tracking capabilities. After a successful simulation study, the new PIλ-D controller is implemented in the hardware environment. The various performance and load disturbance analyses reveal the effectiveness of the proposed scheme compared with the classical PD/PID controllers. The real-time study also shows that this scheme is a simple yet robust solution.

yearjournalcountryeditionlanguage
2022-10-14IEEE Access
https://doi.org/10.1109/access.2022.3214810