Trajectory Tracking of Fractional order Quadrotor UAV Based on Adaptive Fuzzy Fractional Order PID Controller

In this paper, the trajectory tracking problem of the quadrotor UAV with fractional order characteristics is studied. First, an accurate fractional order mathematical model is innovatively established, addressing the deficiency of traditional integer order models in modeling precision. Secondly, the prediction-correction algorithm is applied to solve these complex fractional order differential equations. In design of the control system, the adaptive fuzzy fractional order PID (AFFOPID) control strategy is applied to the position subsystem and attitude subsystem of the quadrotor UAV, dealing effectively with the fractional order characteristics and also enhancing control flexibility. Since the AFFOPID controller does not require the integral term of the error as input, it can be more easily applied and tuned in practical situations. Finally, comparative simulation experiments are conducted to confirm the effectiveness of the proposed control strategy and the superiority of fractional order controllers.