Trajectory tracking control of quadrotor based on fractional order S plane model

DOI:	10.11809/bqzbgcxb2024.03.037
Keywords:	quadrotor; UAV; quaternion; fractional order PID; S plane control; trajectory tracking
Abstract:	Quadrotor possess traits such as under actuation, nonlinearity, and strong coupling. Quaternions are primarily used for attitude calculation in drones, with error quaternions seldom employed directly in the control of specific quadcopter drones. This paper focuses on the low tracking accuracy and weak anti interference ability of quadcopter drones in trajectory tracking control. By establishing the quadcopter quaternion model, a controller based on quaternion error is designed through a combination of fractional order PID control with S plane control.Trajectory tracking experiments demonstrate that: the fractional order S surface controller has significantly smaller cumulative errors than the fractional order PID in the control model of quadcopter drones, proving that this method has strong anti wind disturbance ability and high tracking accuracy.
Issue:	Vol. 45 No. 3 (2024)
Published:	2024-03-28
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