Fractional PID approach for control of a six-rotor robot

In this paper, we present a stable aerial robot aimed at providing robust hover flight. The dynamical model of the robot is derived using Newton-Euler principles. As the system is instinctually unstable, we develop a fractional PID control which has several advantages over a conventional PID controller. To verify the decent performance of the proposed scheme we carry out numerical simulation in MATLAB. The results show that the closed-loop vehicle properly remains in hover and follows desired path even in presence of external disturbances

کلیدواژه ها:

fractional PID ، aerial robot ، multirotor ، linear control