Abstract
The chapter focuses on the experimentation setup and implementation of the fractional controller on the nonlinear quadrotor aircraft. Firstly, the mathematical model of a quadrotor is derived, which is more suitable for acrobatic manoeuvring. In order to handle such an unstable system, a fraction PI (PIλ
) was designed and implemented for x, y, z and yaw movements of the quadrotor aircraft. Detailed simulation results are presented to test the controller. Moreover, the information is provided on configuring hardware for real-time experimentation. A method is verified using the designed controller on the quadrotor in MATLAB Simulink and parrot rolling spider minidrone. Finally, the hardware results are analysed and present interesting applications of fractional-order control.