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

This paper aims to develop a fractional control approach for quadrotor trajectory tracking. A fractional-order integrator (PI
$^{\lambda} $
) 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 PI
$^{\lambda} $
provides precise trajectory tracking capabilities. After a successful simulation study, the new PI
$^{\lambda} $
-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.