Attitude control of quadrotors based on fractional sliding modes: theory and experiments

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

doi:10.1049/iet-cta.2015.1048

Cited by 59 publications

(24 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Proof: Proof is similar to that in Theorem 1 of [19]. However, in contrast to [19], the fractional integral is not reset for computing the control signal. This demonstrates that…”

Section: Design Of the Fractional Attitude Controllermentioning

confidence: 97%

“…where J ij is the ij-entry of J, φ ′ i (t) = −Jω r −ω × Jω+d a (t)+ ∑ j̸ =i J ij S qj + ϱ i (t), and the term ϱ i (t) is the memory effect before t n , which affects the system behavior for any t ≥ t n . This term is casted as an endogenous disturbance to allows the application of the resetting memory principle proposed in [19]. Such principle consists in reestablishing the lower terminal at each time instant when S qi (t) crosses the origin, that is, when S qi (t n ) = 0, obtaining the monotonously increasing sequence of nonnegative real numbers ⟨t n ⟩ n∈N .…”

Section: Design Of the Fractional Attitude Controllermentioning

confidence: 99%

See 1 more Smart Citation

Fractional-Order Control for Robust Position/Yaw Tracking of Quadrotors With Experiments

Izaguirre-Espinosa

Muñoz‐Vázquez²,

Sánchez‐Orta³

et al. 2019

IEEE Trans. Contr. Syst. Technol.

View full text Add to dashboard Cite

Quadrotors are highly maneuverable light weight drones, which are prone to aerodynamic disturbances, vibrations and uncertainties. These factors stand for a problem that demands robust control laws. For position tracking, the control problem is exacerbated because the plant is underactuated in the coordinates of interest, requiring a high performance attitude tracking to resolve underactuation. In this paper, a novel fractional-order controller is proposed by considering a well-posed map that relates the position/yaw control to desired attitude references. The attitude control is continuous and enforces and sustains a sliding motion in finite-time for exponential convergence of the tracking errors to fulfill a "virtual" position controller. The resulting closed-loop system is robust against continuous disturbances that are not necessarily differentiable in the conventional sense. A numerical study based on simulations is presented to analyze the advantages of the fractional actions to design a physically realizable controller, and experiments are discussed to expose the reliability of the proposed fractional scheme implemented in an 'X' configuration quadrotor.

show abstract

“…Proof: Proof is similar to that in Theorem 1 of [19]. However, in contrast to [19], the fractional integral is not reset for computing the control signal. This demonstrates that…”

Section: Design Of the Fractional Attitude Controllermentioning

confidence: 97%

Section: Design Of the Fractional Attitude Controllermentioning

confidence: 99%

Fractional-Order Control for Robust Position/Yaw Tracking of Quadrotors With Experiments

Izaguirre-Espinosa

Muñoz‐Vázquez²,

Sánchez‐Orta³

et al. 2019

IEEE Trans. Contr. Syst. Technol.

View full text Add to dashboard Cite

show abstract

“…, }, with Ω the timeinterval at which the system is studied, output = 1 stands for the measured variable, is the control input, and : Ω → R represents matched disturbances and uncertainties. Examples of Hölder effects in physical systems modeled throughout , are given in [27][28][29][30][31].…”

Section: System Description and Control Statementmentioning

confidence: 99%

Output Feedback Finite‐Time Stabilization of Systems Subject to Hölder Disturbances via Continuous Fractional Sliding Modes

Muñoz‐Vázquez

Parra-Vega²,

Sánchez‐Orta³

et al. 2017

Mathematical Problems in Engineering

View full text Add to dashboard Cite

The problem of designing a continuous control to guarantee finite-time tracking based on output feedback for a system subject to a Hölder disturbance has remained elusive. The main difficulty stems from the fact that such disturbance stands for a function that is continuous but not necessarily differentiable in any integer-order sense, yet it is fractional-order differentiable. This problem imposes a formidable challenge of practical interest in engineering because (i) it is common that only partial access to the state is available and, then, output feedback is needed; (ii) such disturbances are present in more realistic applications, suggesting a fractional-order controller; and (iii) continuous robust control is a must in several control applications. Consequently, these stringent requirements demand a sound mathematical framework for designing a solution to this control problem. To estimate the full state in finite-time, a high-order sliding mode-based differentiator is considered. Then, a continuous fractional differintegral sliding mode is proposed to reject Hölder disturbances, as well as for uncertainties and unmodeled dynamics. Finally, a homogeneous closed-loop system is enforced by means of a continuous nominal control, assuring finite-time convergence. Numerical simulations are presented to show the reliability of the proposed method.

show abstract

“…Ríos et al and Basci et al [27,28] develop a continuous SMC approach to deal with the robust output tracking control problem for a quadrotor. In addition, a fractional-order SMC scheme has been suggested to stabilize the attitude of quadrotors [29,30].…”

Section: Introductionmentioning

confidence: 99%

Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Huang

Wang

et al. 2019

Complexity

View full text Add to dashboard Cite

In this paper, a robust adaptive sliding mode control scheme is developed for attitude and altitude tracking of a quadrotor unmanned aerial vehicle (UAV) system under the simultaneous effect of parametric uncertainties and consistent external disturbance. The underactuated dynamic model of the quadrotor UAV is first built via the Newton–Euler formalism. Considering the nonlinear and strongly coupled characteristics of the quadrotor, the controller is then designed using a sliding mode approach. Meanwhile, additional adaptive laws are proposed to further improve the robustness of the proposed control scheme against the parametric uncertainties of the system. It is proven that the control laws can eliminate the altitude and attitude tracking errors, which are guaranteed to converge to zero asymptotically, even under a strong external disturbance. Finally, numerical simulation and experimental tests are performed, respectively, to verify the effectiveness and robustness of the proposed controller, where its superiority to linear quadratic control and active disturbance rejection control has been demonstrated clearly.

show abstract

Attitude control of quadrotors based on fractional sliding modes: theory and experiments

Cited by 59 publications

References 22 publications

Fractional-Order Control for Robust Position/Yaw Tracking of Quadrotors With Experiments

Fractional-Order Control for Robust Position/Yaw Tracking of Quadrotors With Experiments

Output Feedback Finite‐Time Stabilization of Systems Subject to Hölder Disturbances via Continuous Fractional Sliding Modes

Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller

Contact Info

Product

Resources

About