Trajectory Tracking Control of Quadrotor Based on Fractional-Order S-Plane Model

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 the control of specific quadcopter drones. This paper focuses on low tracking accuracy weak anti-interference ability drones trajectory-tracking control. By establishing quaternion model, a controller based is designed through combination fractional-order PID S-plane Trajectory-tracking experiments demonstrate that, comparison PID, this method exhibits wind disturbance resistance high accuracy.