FOPID-Based Trajectory Control for an Unmanned Aerial Robotic Manipulator

Gabriela Andaluz, Zahid Nazate, Paulo Leica, Guillermo Palacios-Navarro

2025

Abstract

This work presents a Fractional Order PID (FOPID) control strategy for trajectory tracking of an Unmanned Aerial Manipulator (UAM), proposed as an alternative to the conventional PID controller. Unlike classical integer-order controllers, the FOPID design enables more flexible tuning of the aerial manipulator’s kinematic response by introducing five independent tuning parameters. This added flexibility enhances system stability and improves robustness against abrupt reference changes. The controller parameters are optimized through Integral of Squared Error (ISE) minimization to ensure efficient performance. Simulation results confirm that the FOPID controller achieves superior trajectory tracking accuracy compared to the conventional PID. Specifically, the ISE values obtained with the FOPID reflect reductions of 23.46%, 24.99%, and 15.35% in the tracking errors along the 𝑥෤, 𝑦෤ and 𝑧̃ directions, respectively. These results validate the effectiveness of the FOPID approach in improving the control performance of unmanned aerial manipulators.

Paper Citation

in Harvard Style

Andaluz G., Nazate Z., Leica P. and Palacios-Navarro G. (2025). FOPID-Based Trajectory Control for an Unmanned Aerial Robotic Manipulator. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 227-234. DOI: 10.5220/0013706200003982

in Bibtex Style

@conference{icinco25,
author={Gabriela Andaluz and Zahid Nazate and Paulo Leica and Guillermo Palacios-Navarro},
title={FOPID-Based Trajectory Control for an Unmanned Aerial Robotic Manipulator},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={227-234},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013706200003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - FOPID-Based Trajectory Control for an Unmanned Aerial Robotic Manipulator
SN - 978-989-758-770-2
AU - Andaluz G.
AU - Nazate Z.
AU - Leica P.
AU - Palacios-Navarro G.
PY - 2025
SP - 227
EP - 234
DO - 10.5220/0013706200003982
PB - SciTePress