Hybrid Fixed-Point Control Architecture for Quadrotor Stabilization Using FOPI/FOPID on FPGA

Ensuring stability in underactuated systems like Quadrotor Aerial Vehicles (QAVs) poses significant control challenges in aerial robotics. This study presents a simulation-based performance evaluation of Fractional Order PI (FOPI) and FOPID controllers designed for potential deployment on an FPGA-based platform. A hybrid fixed- and floating-point architecture is implemented within the MATLAB/Simulink environment to optimize computational precision, memory usage, and processing speed. The control algorithms are validated through simulation and hardware-in-the-loop (HIL) testing using Xilinx Vivado, emulating real-time FPGA behavior. Although the control architecture has not yet been physically implemented on FPGA hardware, the simulation framework closely replicates deployment conditions. Results demonstrate that the FOPID controller achieves superior accuracy, response time, and resource efficiency compared to traditional designs. This simulation-driven analysis highlights the feasibility of FPGA-based real-time controllers for UAV applications, laying the groundwork for future physical implementation and flight validation.