Quadrotor Precision Landing on Inclined Surfaces Using Adaptive Leg Design with Robust PID and Fractional PID Control

Abdullah Nader Alkhater; Ghulam E. Mustafa Abro; Ayman M. Abdallah

doi:10.1109/CSPA64953.2025.10933327

Quadrotor Precision Landing on Inclined Surfaces Using Adaptive Leg Design with Robust PID and Fractional PID Control

Abdullah Nader Alkhater, Ghulam E. Mustafa Abro^*, Ayman M. Abdallah

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This work introduces a new system with adaptive landing legs to improve the versatility of quadrotor aerial platforms, facilitating safe take-off and landing on sloping surfaces. The design has a lightweight, symmetric leg construction powered by a single servomotor, reducing weight and streamlining wiring, while ensuring stability and balance in flight. To achieve accurate landings on slopes, essential data - including distance, slope orientation, and surface angle - is collected by a multi-zone Time-of-Flight sensor, which demonstrates resilience to visual distortions and fluctuating lighting conditions, surpassing conventional imaging techniques. Landing manoeuvre control is refined using MATLAB simulations, whereby we implement and compare proportional-integral-derivative (PID) and fractional-order PID controllers, emphasising the superior stability and precision of our control methodology. This design markedly enhances the manoeuvrability of quadrotors in difficult terrains.

Original language	English
Title of host publication	2025 21st IEEE International Colloquium on Signal Processing and Its Applications, CSPA 2025 - Conference Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	67-71
Number of pages	5
Edition	2025
ISBN (Electronic)	9798331522193
DOIs	https://doi.org/10.1109/CSPA64953.2025.10933327
State	Published - 2025
Event	21st IEEE International Colloquium on Signal Processing and Its Applications, CSPA 2025 - Pulau Pinang, Malaysia Duration: 7 Feb 2025 → 8 Feb 2025

Conference

Conference	21st IEEE International Colloquium on Signal Processing and Its Applications, CSPA 2025
Country/Territory	Malaysia
City	Pulau Pinang
Period	7/02/25 → 8/02/25

Bibliographical note

Publisher Copyright:
© 2025 IEEE.

Keywords

Landing legs
Quadrotor
Sloping surfaces
Time of flight and FOPID

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Signal Processing
Media Technology
Control and Optimization
Modeling and Simulation

Access to Document

10.1109/CSPA64953.2025.10933327

Cite this

Alkhater, A. N., Mustafa Abro, G. E., & Abdallah, A. M. (2025). Quadrotor Precision Landing on Inclined Surfaces Using Adaptive Leg Design with Robust PID and Fractional PID Control. In 2025 21st IEEE International Colloquium on Signal Processing and Its Applications, CSPA 2025 - Conference Proceedings (2025 ed., pp. 67-71). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CSPA64953.2025.10933327

Alkhater, Abdullah Nader ; Mustafa Abro, Ghulam E. ; Abdallah, Ayman M. / Quadrotor Precision Landing on Inclined Surfaces Using Adaptive Leg Design with Robust PID and Fractional PID Control. 2025 21st IEEE International Colloquium on Signal Processing and Its Applications, CSPA 2025 - Conference Proceedings. 2025. ed. Institute of Electrical and Electronics Engineers Inc., 2025. pp. 67-71

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abstract = "This work introduces a new system with adaptive landing legs to improve the versatility of quadrotor aerial platforms, facilitating safe take-off and landing on sloping surfaces. The design has a lightweight, symmetric leg construction powered by a single servomotor, reducing weight and streamlining wiring, while ensuring stability and balance in flight. To achieve accurate landings on slopes, essential data - including distance, slope orientation, and surface angle - is collected by a multi-zone Time-of-Flight sensor, which demonstrates resilience to visual distortions and fluctuating lighting conditions, surpassing conventional imaging techniques. Landing manoeuvre control is refined using MATLAB simulations, whereby we implement and compare proportional-integral-derivative (PID) and fractional-order PID controllers, emphasising the superior stability and precision of our control methodology. This design markedly enhances the manoeuvrability of quadrotors in difficult terrains.",

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Alkhater, AN, Mustafa Abro, GE & Abdallah, AM 2025, Quadrotor Precision Landing on Inclined Surfaces Using Adaptive Leg Design with Robust PID and Fractional PID Control. in 2025 21st IEEE International Colloquium on Signal Processing and Its Applications, CSPA 2025 - Conference Proceedings. 2025 edn, Institute of Electrical and Electronics Engineers Inc., pp. 67-71, 21st IEEE International Colloquium on Signal Processing and Its Applications, CSPA 2025, Pulau Pinang, Malaysia, 7/02/25. https://doi.org/10.1109/CSPA64953.2025.10933327

Quadrotor Precision Landing on Inclined Surfaces Using Adaptive Leg Design with Robust PID and Fractional PID Control. / Alkhater, Abdullah Nader; Mustafa Abro, Ghulam E.; Abdallah, Ayman M.
2025 21st IEEE International Colloquium on Signal Processing and Its Applications, CSPA 2025 - Conference Proceedings. 2025. ed. Institute of Electrical and Electronics Engineers Inc., 2025. p. 67-71.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2025

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N2 - This work introduces a new system with adaptive landing legs to improve the versatility of quadrotor aerial platforms, facilitating safe take-off and landing on sloping surfaces. The design has a lightweight, symmetric leg construction powered by a single servomotor, reducing weight and streamlining wiring, while ensuring stability and balance in flight. To achieve accurate landings on slopes, essential data - including distance, slope orientation, and surface angle - is collected by a multi-zone Time-of-Flight sensor, which demonstrates resilience to visual distortions and fluctuating lighting conditions, surpassing conventional imaging techniques. Landing manoeuvre control is refined using MATLAB simulations, whereby we implement and compare proportional-integral-derivative (PID) and fractional-order PID controllers, emphasising the superior stability and precision of our control methodology. This design markedly enhances the manoeuvrability of quadrotors in difficult terrains.

AB - This work introduces a new system with adaptive landing legs to improve the versatility of quadrotor aerial platforms, facilitating safe take-off and landing on sloping surfaces. The design has a lightweight, symmetric leg construction powered by a single servomotor, reducing weight and streamlining wiring, while ensuring stability and balance in flight. To achieve accurate landings on slopes, essential data - including distance, slope orientation, and surface angle - is collected by a multi-zone Time-of-Flight sensor, which demonstrates resilience to visual distortions and fluctuating lighting conditions, surpassing conventional imaging techniques. Landing manoeuvre control is refined using MATLAB simulations, whereby we implement and compare proportional-integral-derivative (PID) and fractional-order PID controllers, emphasising the superior stability and precision of our control methodology. This design markedly enhances the manoeuvrability of quadrotors in difficult terrains.

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Alkhater AN, Mustafa Abro GE, Abdallah AM. Quadrotor Precision Landing on Inclined Surfaces Using Adaptive Leg Design with Robust PID and Fractional PID Control. In 2025 21st IEEE International Colloquium on Signal Processing and Its Applications, CSPA 2025 - Conference Proceedings. 2025 ed. Institute of Electrical and Electronics Engineers Inc. 2025. p. 67-71 doi: 10.1109/CSPA64953.2025.10933327

Quadrotor Precision Landing on Inclined Surfaces Using Adaptive Leg Design with Robust PID and Fractional PID Control

Abstract

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this