Experimental validation and control of Laboratory aerial system by IC741-IOPID and IC741-FOP $I^{\lambda}$ Controllers: An Analog approach

As control and trajectory tracking of hovering aerial vehicles are remarkable objective among researchers and industries. So in this paper, a validated attempt is made to achieve the precise and desired control of the Twin Rotor Aerial System (TRAS) over is motion in horizontal as well as vertical planes. To obtain pitch and yaw angles stabilization and desired trajectory tracking of TRAS the IO-PID and fractional order FOP
$I^{\lambda}$
controllers are designed using IC741 operational amplifiers. The designing and transforming integer order scheme into fractional-order crone1 and continued fraction expansion (CFE) methods are used, which ultimately replace feedback capacitor in
$I^{\lambda}$
control scheme with an RC ladder fractance device. The designed controllers are tested with a defined disturbance provided to pitch and yaw trajectories and the time taken by both the controllers are compared for testing of stabilization control performances. It is observed from results that IC741-
$I^{\lambda}$
controller gives better trajectory tracking and stabilization than IC741-IOPID.