Helical Trajectory Control of Quadrotor UAVs using Fractional Order Proportional-Integral-Derivative (FOPID) Controller

A quadrotor unmanned aerial vehicle (QUAV) with four control inputs and six degree of freedom (DOF) is underactuated and unstable system. The fractional order proportional-integral-derivative (FOPID) controller for quadrotor unmanned aerial vehicle (QUAV) helical trajectory tracking is designed and implemented in this study. We compared the proposed control approach to the PID controller and integral state feedback algorithm (ISFA). The QUAV's translational and angular velocities were obtained, linearized, and modeled in MATLAB/Simulink. This simulation investigated the closed-loop performance of fractional order PID (FoPID), conventional PID, and ISFA controllers for QUAV tracking control. FOPID achieved better transient and steady state parameters, sensitivity to parameter alterations, overshoot reduction potential, ease of tuning, and robust performance in cluttered situations than PID and ISFA controllers. These demonstrate the FoPID controller's dependability and durability. Finally, one may find hardware validation as well for the robustness of FOPID.