A Fractional Nonlinear PI-Structure Control for Robust Attitude Tracking of Quadrotors

Oliva-Palomo, Fatima; Muñoz‐Vázquez, Aldo Jonathan; Sánchez‐Orta, Anand; Parra-Vega, Vicente; Izaguirre-Espinosa, Carlos; Castillo, Pedro

doi:10.1109/taes.2019.2893817

Cited by 35 publications

(14 citation statements)

References 27 publications

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“…2) in which the corresponding control system is described by a nonlinear fractional-order model. Among these 9 cases, control system analysis and design in the case of NLF process and NLF controller, as the most general case, has received more attention than the other ones (some samples of the methods proposed in this case for control of nonlinear fractional-order systems are nonlinear fractional PI control [107], predictive control [108], adaptive sliding mode control [109], adaptive backstepping control [110], adaptive neurofuzzy control [111], and adaptive iterative learning control [112]). Nevertheless, the other cases yielding a nonlinear fractional-order control system have been also considered in literature, e.g.…”

Section: Nonlinear Fractional-order Control Systemsmentioning

confidence: 99%

Nonlinear Fractional-Order Circuits and Systems: Motivation, A Brief Overview, and Some Future Directions

Tavazoei

Tavakoli-Kakhki

Bizzarri

2020

IEEE Open J. Circuits Syst.

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In recent years, fractional-order differential operators, and the dynamic models constructed based on these generalized operators have been widely considered in design and practical implementation of electrical circuits and systems. Simultaneously, facing with fractional-order dynamics and the nonlinear ones in electrical circuits and systems enforces us to use more advanced tools (in comparison to those commonly used in design and analysis of linear fractional-order/nonlinear integer-order circuits and systems) for their analysis, design, and implementation. Discussing on such a motivation, this tutorial paper aims to provide an overview on the recent achievements in proposing effective tools for analysis and design of nonlinear fractional-order circuits and systems. Moreover, some open problems, which can specify future directions for continuing research works on the aforementioned subject, are discussed.

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Section: Nonlinear Fractional-order Control Systemsmentioning

confidence: 99%

Nonlinear Fractional-Order Circuits and Systems: Motivation, A Brief Overview, and Some Future Directions

Tavazoei

Tavakoli-Kakhki

Bizzarri

2020

IEEE Open J. Circuits Syst.

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“…In addition to the design of the controller, an observer is designed to approximate the disturbed state and external disturbance (Muhammad et al , 2019; Rooh et al , 2019). Furthermore, the control strategies such as adaptive or backstepping which are model-based are in stability risks in the presence of endogenous uncertainties and unknown input disturbances (Oliva-Palomo et al , 2019).…”

Section: Introductionmentioning

confidence: 99%

Active disturbance rejection attitude control of unmanned quadrotor via paired coevolution pigeon-inspired optimization

Yuan¹,

Duan

2021

AEAT

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Purpose The purpose of this paper is to develop a novel active disturbance rejection attitude controller for quadrotors and propose a controller parameters identification approach to obtain better control results. Design/methodology/approach Aiming at the problem that quadrotor is susceptible to disturbance in outdoor flight, the improved active disturbance rejection control (IADRC) is applied to design attitude controller. To overcome the difficulty that adjusting the parameters of IADRC controller manually is complex, paired coevolution pigeon-inspired optimization (PCPIO) algorithm is used to optimize the control parameters. Findings The IADRC, where nonlinear state error feedback control law is replaced by non-singular fast terminal sliding mode control law and a third-order tracking differentiator is designed for second derivative of the state, has higher control accuracy and better robustness than ADRC. The improved PIO algorithm based on evolutionary mechanism, named PCPIO, is proposed. The optimal parameters of ADRC controller are found by PCPIO with the optimization criterion of integral of time-weighted absolute value of the error. The effectiveness of the proposed method is verified by a series of simulation experiments. Practical implications IADRC can improve the accuracy of attitude control of quadrotor and resist external interference more effectively. The proposed PCPIO algorithm can be easily applied to practice and can help the design of the quadrotor control system. Originality/value An improved active disturbance rejection controller is designed for quadrotor attitude control, and a hybrid model of PIO and evolution mechanism is proposed for parameters identification of the controller.

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“…Furthermore, the coefficients of the defined sliding mode manifolds were computed according to the condition of Hurwitz stability. Based on a nonlinear proportional integral (PI) structure, a fractional sliding mode-based controller was introduced in Oliva-Palomo et al (2019) to control the attitude of a quadrotor, where the proportional term and the integral term were utilized for a nonlinear waste and robustness, respectively. To control the position and the attitude of a quadrotor in the presence of uncertainties and disturbances, model-free and sliding-mode control techniques were integrated to present a model-free–based terminal sliding-mode control (Wang et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Global exponential stabilization of a quadrotor by hybrid control

Hashemi

Pariz

Sani

2021

Transactions of the Institute of Measurement and Control

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The main purpose of this paper is to introduce a hybrid controller for global attitude tracking of a quadrotor. This controller globally exponentially stabilizes the desired attitude, a task that is impossible to accomplish with memoryless discontinuous or continuous state feedback owing to topological obstruction. Thereafter, this paper presents a new centrally synergistic potential function to construct hybrid feedback that defeats the topological obstruction. This function induces a gradient vector field to globally asymptotically stabilize the reference attitude and produces the synergy gap to generate a switching control law. The proposed control structure is consisting of two major parts. In the first part, a synergetic controller is designed to cooperate with the hybrid controller, whereas it exponentially stabilizes the origin of the error dynamics. In the second part, a hybrid controller is introduced to globally stabilize the attitude of the quadrotor, where an average dwell constraint is considered with the switching control law to guarantee the exponential stability of the switched system. Finally, the effectiveness and superiority of the proposed control technique are validated by a comparative analysis in simulations.

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A Fractional Nonlinear PI-Structure Control for Robust Attitude Tracking of Quadrotors

Cited by 35 publications

References 27 publications

Nonlinear Fractional-Order Circuits and Systems: Motivation, A Brief Overview, and Some Future Directions

Nonlinear Fractional-Order Circuits and Systems: Motivation, A Brief Overview, and Some Future Directions

Active disturbance rejection attitude control of unmanned quadrotor via paired coevolution pigeon-inspired optimization

Global exponential stabilization of a quadrotor by hybrid control

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