Robust discrete‐time fractional‐order control for an unmanned aerial vehicle based on disturbance observer

Abstract

In this article, a robust discrete-time fractional-order tracking control scheme based on a discrete-time disturbance observer (DTDO) is proposed for an unmanned aerial vehicle (UAV) system in the presence of unknown bounded variation disturbances. A DTDO is first constructed to estimate the unknown bounded disturbance. On the basis of the output of the DTDO and the discrete-time fractional-order theories, a robust discrete-time fractional-order control scheme is then designed by using the backstepping control technique for a discrete-time UAV system with disturbances. The proposed control scheme is expected to guarantee the stability of the closed-loop system with all system signals bounded. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed control scheme.

Surrogate Optimal Fractional Control for Constrained Operational Service of UAV Systems

“…In [30], a refined fault-tolerant tracking control of fixed-wing UAVs based on FOC paired with an interval type-2 fuzzy neural network under event-triggered communication was developed to decrease communication overloads. The authors in [31] proposed a robust discrete-time FOC for UAV systems using the backstepping control technique to guarantee the stability of the closedloop system. In further examples, the authors in [32] designed an event-triggered FOC with sliding mode control quadrotor UAVs to ensure the altitude and position tracking of the desired dynamics.…”