Fractional PID and backstepping control for a small quadrotor helicopter

摘要

This paper is about modeling and control of autonomous quadrotor helicopter. In this paper, we first establish the quadrotor dynamic model using torque control method dealing with the barycenter shift problem. Then we developed the automatic flight controller by combining the Fractional PID as the inner loop for attitude control and Backstepping as the outer loop achieving trajectory tracking. Finally, we verified the proposed controller in simulation environment using our self-developed quadrotor helicopter parameters.