Quadrotor Control Using Fractional-Order PI^λ D^μ Control

Quadrotor control has been noted for its trouble as the consequence of the high maneuverability, system nonlinearity and strongly coupled multivariable. This paper deals with the simulation depend on proposed controller of a quadrotor that can overcome this trouble. The mathematical model of quadrotor is determined using a Newton-Euler formulation. Fractional Order Proportional Integral Derivative (FOPID) controller tuned by genetic algorithm (GA) is investigated to control and stabilization the position and attitude of quadrotor using feedback linearization. This controller is used as a reference to compare its results with Proportional Integral Derivative (PID) controller tuned by GA. The control structure performance is evaluated through the response and minimizing the error of the position and attitude. Simulation results, demonstrates that position and attitude control using FOPID has fast response, better steady state error and RMS error than PID. By simulation the two controllers are tested under the same conditions using SIMULINK under MATLAB2015a.

کلیدواژه ها:

Quadrotor ، Proportional Integral Derivative (PID) controller ، Fractional Order Proportional Integral Derivative (FOPID)