Active Noise Resistance and Time-Delay Control of Quadrotor UAVs Based on a Novel Composite Fractional-Order PID Controller

In response to the issues of low control accuracy and poor stability caused by wind disturbance and control time delays in quadrotor unmanned aerial vehicles (UAVs), we utilizes a multi-channel decoupled state space model of a quadrotor UAV. A method using time-delay compensation fractional-order PID (TCFOPID) controllers to adjust the response curves was proposed, enhancing the system’s adaptability to wind disturbance and time delays.Given the time-varying nature of control time delays and the limitations of fixed-parameter FOPID performance, this study designed a quadrotor UAV control algorithm based on the Actor-Critic (AC) reinforcement learning with a fractional-order PID that can update PID parameters and time-delay compensation parameters online. Simulation experiments show that this control algorithm achieves favorable control outcomes, demonstrating its effectiveness in managing the dynamic challenges posed by wind disturbance rejection and time delays in UAV control systems.