Research on UAV attitude control based on fractional order proportional integral controllers

This article is based on the theory of fractional calculus control, and put forward a kind of fractional order PID controller design method for lateral and longitudinal attitude control system of unmanned aerial vehicle (UAV) model. Using the controller parameter tuning method, such as the phase margin and the `Flat-phase´ of which the control system open-loop transfer function phase Bode diagram has the same phase near the cut off frequency and is robust to the gain variation, to design IOPID controller, FOPI controller and FO[PI] controller. Then, by exploiting Matlab, the frequency domain response and unit step response characteristics of the different control systems can be plotted. The results verified that the designed fractional order controller for the attitude control system of UAV is effective.