Optimal Fractional Order Internal Model Control Approach For Altitude Control of UAV

This research validates a novel control scheme for controlling the altitude (z-direction) of a quadrotor Mini drone. The simultaneous task of setpoint tracking, dead-time compensation, and handling large disturbances is particularly challenging for integrating plants. Consequently, this innovative control method embeds a disturbance filter and dead-time compensator within a fractional-filter-based PID controller. The controller is specifically designed using the Internal Model Control (IMC) approach, with the fractional filter tuned using the delayed Bode’s ideal transfer function method. Stability is evaluated through the Riemann sheet principle, and the controller settings are fine-tuned with the Teaching Learning Based Algorithm (TLBO). Measurement noise is introduced to test the control scheme’s performance. This method can manage ramp setpoints with plant uncertainty, addressing real-world demands. Numerical results show enhanced step and ramp responses compared to recent techniques utilizing fractional orders for quadrotor altitude control. The Integral Absolute Error (IAE) and Integral Square Error (ISE) are employed for quantitative assessment. The simplicity and intuitive nature of the proposed scheme render it appealing for industrial applications.