Abstract
The quadrotor UAV has the characteristics of underdrive, nonlinearity and strong coupling. Aiming at the characteristics of low tracking accuracy and weak resistance to external interference in the trajectory tracking control of quadrotor UAV, this paper proposes a fractional-order S-plane control method from the perspective of the inner and outer loops. The outer loop, i.e., the position loop, adopts the traditional PID control, and the inner loop, i.e., the velocity loop, adopts the fractional order S-plane control. The method is verified in SIMULINK by tracking the helix to have better effect compared with the traditional PID control in terms of resistance to external wind disturbance.
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Li, J., Chen, P., Zhang, G., Guan, T., Chang, Z. (2023). Quadrotor UAV Trajectory Tracking Control Based on Fractional-Order and S-Plane. In: Fu, W., Gu, M., Niu, Y. (eds) Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022). ICAUS 2022. Lecture Notes in Electrical Engineering, vol 1010. Springer, Singapore. https://doi.org/10.1007/978-981-99-0479-2_191
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DOI: https://doi.org/10.1007/978-981-99-0479-2_191
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