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Academic Journal
Improved Performance in Quadrotor Trajectory Tracking Using MIMO PIλ-D Control
Vivek Pawan Shankaran, Sheikh Izzal Azid, Utkal Mehta, Adriano Fagiolini
IEEE Access, Vol 10, Pp 110646-110660 (2022)
Sparad:
| Titel | Improved Performance in Quadrotor Trajectory Tracking Using MIMO PIλ-D Control |
|---|---|
| Författarna | Vivek Pawan Shankaran, Sheikh Izzal Azid, Utkal Mehta, Adriano Fagiolini |
| Utgivningsår |
2022
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| Källa |
IEEE Access, Vol 10, Pp 110646-110660 (2022)
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| Beskrivning |
This paper aims to develop a fractional control approach for quadrotor trajectory tracking. A fractional-order integrator (PI $^{\lambda} $ ) 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 $^{\lambda} $ provides precise trajectory tracking capabilities. After a successful simulation study, the new PI $^{\lambda} $ -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.
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| Dokumenttyp |
article
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| Språk |
English
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| Information om utgivare |
IEEE, 2022.
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| Ämnestermer | |
