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This paper aims to develop a fractional control approach for quadrotor trajectory tracking. A fractional-order integrator (PI λ ) 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 λ provides precise trajectory tracking capabilities. After a successful simulation study, the new PI λ -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.

This paper verifies a fractional-order PI controller to stabilize integrating time delay plants. Firstly, the stability region by non-integer order controller namely, P I λ is illustrated using boundary condition. This is achieved using complex root boundary domains. The controller parameters are calculated using the ITAE criterion for integrating plant with time delay. The twin rotor MIMO system (TRMS) as an integrating plant is verified in our study. Another example with large time delay is studied to check the validity of fractional-order integrator. Both simulation and experimental results are discussed and compared by P I λ with classical P I. The result proves the effectiveness of the fractional order controller.

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