Mohamad Ali Tofigh - School of Mechanical Engineering, University of Tehran, Tehran, Iran
Mohamad Mahjoob,
M. Jafar Sadigh

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

fractional PID, aerial robot, multirotor, linear control