Disturbance Observer based Fractional Order Sliding Mode Control for Quadrotor

Bist, Ashutosh; Sondhi, Swati

doi:10.1109/indicon49873.2020.9342407

Cited by 2 publications

(2 citation statements)

References 16 publications

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“…Recent studies present fractional control has been extensively linked with sliding mode control for applying quadrotor control [35]- [37]. In [35], an adaptive fractional order sliding mode control was designed for a quadrotor with varying loads.…”

Section: Introductionmentioning

confidence: 99%

Improved Performance in Quadrotor Trajectory Tracking Using MIMO PI^λ-D Control

et al. 2022

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This paper aims to develop a fractional control approach for quadrotor trajectory tracking. A fractional-order integrator (PI λ ) with a feedback derivative scheme is designed to control each state of the MIMO system. The designed feedback controller stabilizes the initially unstable decoupled states and widens the stability, while PI λ provides precise trajectory tracking capabilities. After a successful simulation study, the new PI λ -D controller is implemented in the hardware environment. The various performance and load disturbance analyses reveal the effectiveness of the proposed scheme compared with the classical PD/PID controllers. The real-time study also shows that this scheme is a simple yet robust solution.

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Section: Introductionmentioning

confidence: 99%

Improved Performance in Quadrotor Trajectory Tracking Using MIMO PI^λ-D Control

et al. 2022

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“…However, it is equally difficult to produce an appropriate mathematical method for fractional order controller of the dynamical system (Podlubny, 1998; Ghommam et al , 2020). Toward this goal, a wide number of researchers have contributed with different controller designs based on feedback linearization (Zhou et al , 2014; Martins et al , 2021), sliding mode control (SMC) (Cheng et al , 2017; Bist and Sondhi, 2020), backstepping control (Shi et al , 2019; Zhao et al , 2021), fuzzy logic control (Liu et al , 2015; Unal, 2021), etc.…”

Section: Introductionmentioning

confidence: 99%

Fractional order sliding mode control based on delayed output observer for unmanned aircraft system

Sondhi

Bist

2022

AEAT

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Purpose This paper aims to design the fractional order sliding mode controller for highly maneuverable remote piloted unmanned aircraft with time-varying delays. Design/methodology/approach With the assumption that the time-varying delays are bounded and identical for different outputs, an observer-based control technique is implied which reformulates the state variables based on the system model and delayed outputs. The estimated state variables are fed as feedback into the controller. Based on the delayed output observer, a fractional order sliding mode controller is designed. Further, the stability of the closed-loop system is analyzed and asymptotical convergence is realized using Lyapunov–Razumikhin theorem. Findings The simulation is done in Matlab and Simulink. The parametric variations and trajectory tracking results are illustrated which looks propitious. Practical implications In practical operation, measurement signal is often delayed, which significantly degrade the control performance or even disturb the stability. It is emphasized to choose attitude as the evaluation indicator for unmanned aerial vehicle time delay. Originality/value A novel fractional order sliding mode control technique is designed to enhance the trajectory tracking, thus autonomous flight performance, of the aircraft system. Also, the main idea behind this novel procedure is formulated for minimizing the parametric variations in presence of time delays.

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Disturbance Observer based Fractional Order Sliding Mode Control for Quadrotor

Cited by 2 publications

References 16 publications

Improved Performance in Quadrotor Trajectory Tracking Using MIMO PI^λ-D Control

Improved Performance in Quadrotor Trajectory Tracking Using MIMO PI^λ-D Control

Fractional order sliding mode control based on delayed output observer for unmanned aircraft system

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Disturbance Observer based Fractional Order Sliding Mode Control for Quadrotor

Cited by 2 publications

References 16 publications

Improved Performance in Quadrotor Trajectory Tracking Using MIMO PIλ-D Control

Improved Performance in Quadrotor Trajectory Tracking Using MIMO PIλ-D Control

Fractional order sliding mode control based on delayed output observer for unmanned aircraft system

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Improved Performance in Quadrotor Trajectory Tracking Using MIMO PI^λ-D Control

Improved Performance in Quadrotor Trajectory Tracking Using MIMO PI^λ-D Control