Fractional-order control, MIMO system, quadrotor, trajectory tracking, real-time, optimization, Electrical engineering. Electronics. Nuclear engineering, TK1-9971

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.