Affiliation:
1. School of Aerospace Engineering, North University of China, Taiyuan 030051, China
Abstract
Quadrotors possess traits such as under-actuation, nonlinearity, and strong coupling. Quaternions are primarily used for attitude calculations in drones, with error quaternions seldom being 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, in comparison with fractional-order PID, this method exhibits strong wind disturbance resistance and high tracking accuracy.
Funder
Key Research and Development Program of Shanxi Province
National Natural Science Foundation of China
Fundamental Research Program of Shanxi Province
Postgraduate Science and Technology Project of NUC
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering
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