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Improved Performance in Quadrotor Trajectory Tracking Using MIMO PI-D Control

Shankaran, Vivek Pawan and Azid, Sheikh Izzal and Mehta, Utkal V. and Fagiolini, Adriano (2022) Improved Performance in Quadrotor Trajectory Tracking Using MIMO PI-D Control. IEEE Access, 10 . pp. 110646-110660. ISSN 2169-3536

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This paper aims to develop a fractional control approach for quadrotor trajectory tracking. A fractional-order integrator (PI λ ) with a feedback derivative scheme is designed to control each state of the MIMO system. The designed feedback controller stabilizes the initially unstable decoupled states and widens the stability, while PI λ provides precise trajectory tracking capabilities. After a successful simulation study, the new PI λ -D controller is implemented in the hardware environment. The various performance and load disturbance analyses reveal the effectiveness of the proposed scheme compared with the classical PD/PID controllers. The real-time study also shows that this scheme is a simple yet robust solution.

Item Type: Journal Article
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: School of Information Technology, Engineering, Mathematics and Physics (STEMP)
Depositing User: Fulori Nainoca - Waqairagata
Date Deposited: 27 Oct 2022 00:53
Last Modified: 27 Oct 2022 00:53

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