Model references frequency-domain design based fractional order PD controller for quadrotor control: attitude, altitude, and position studies

Figures & data

Figure 1. Quadrotor axis system.

Table 1. Model parameters.

Symbol	Unit	Values
b	Kg.m/rad^2	54.2 × 10^-6
d	Kg.m^2/rad^2	1.1 × 10^-6
g	m/s^2	9.81
l	m	0.24
m	kg	1
Ix	Kg.m^2	8.1 × 10^-3
Iy	Kg.m^2	8.1 × 10^-3
Iz	Kg.m^2	14.2 × 10^-3
Jrotor	Kg.m^2	104 × 10^-6
km	N.m/A	6.3 × 10^-3
R	Ω	0.6
r	-	5.6
η	-	0.9
ΩH	Rad/s	115

Figure 2. Structure of the fractional-order PI^λD^μ controller.

Figure 3. Four-rotor control scheme.

Figure 4. Setpoint tracking responses of angles [φ θ ψ] using FOPD.

Figure 5. Comparison of FOPD and conventional PD responses for angles set-point tracking and disturbance rejection.

Figure 6. General representation of closed-loop position control.

Figure 7. Setpoint responses of positions X and Y using Fractional-order PDµ.

Figure 8. Comparison between FOPD and conventional PD for the control of positions X and Y of quadrotor for set-point tracking and disturbance rejection responses.

Figure 9. Altitude set-point responses of the fractional PDμ controller and reference model.

Figure 10. Altitude set-point responses using conventional PD controller.