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

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