Controlling a quadrotor UAV by means of a fractional nested saturation control

Lavín-Delgado, J. E.; Beltrán, Z. Zamudio; Gómez‐Aguilar, J.F.; Pérez-Careta, Eduardo

doi:10.1016/j.asr.2022.10.023

Cited by 9 publications

(3 citation statements)

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“…Quadrotors are highly maneuverable aerial vehicles that need complex modeling approaches for control and optimization. Since it allows for the introduction of nonlinear dynamics and external forces, the Euler-Lagrange technique is often employed for modeling quadrotors [1][2]. The Newton-Euler technique is also employed since it is based on Newton's principles of motion and gives a thorough knowledge of the quadrotor's motion [3][4].…”

Section: Introductionmentioning

confidence: 99%

Quadcopter Prototype Stability Assessment With Pid Controller And Euler-Lagrange Approach

Djizi,

Zahzouh,

Bouzaouit

2023

The Scientific Bulletin of Electrical Engineering Faculty

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The increasing use of drones in various fields has led to their popularity in developed countries due to their ease of use and manufacture. This Miniature Pilotless Aircraft has numerous beneficial usages such as express shipping, gathering information, crop monitoring, cargo transport, storm tracking, geographic mapping of inaccessible terrain, search and rescue operations, among others. This study aims to investigate the stability of a quadcopter through simulations based on the mathematical model that describes the quadcopter’s dynamic and flight mechanics, using the Euler-Lagrange approach. It conducts simulations in MATLAB and present the principles that govern quadcopter stability, focusing on setting the PID coefficients to achieve optimal stability. This study provides insights into the principles of drone mechanics and stability, enabling us to better understand the quadcopter’s behavior and performance.

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Section: Introductionmentioning

confidence: 99%

Quadcopter Prototype Stability Assessment With Pid Controller And Euler-Lagrange Approach

Djizi,

Zahzouh,

Bouzaouit

2023

The Scientific Bulletin of Electrical Engineering Faculty

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“…In addition, the fractional order control algorithm can be applied in the field of robot control in combination with other technical methods. For example, a fractional neural integral sliding-mode controller based on the Caputo-Fabrizio derivative and Riemann-Liouville integral for a robot manipulator mounted on a free-floating satellite [15] and a method based on the nested saturations technique and the Caputo-Fabrizio derivative for a quadrotor aircraft [16] . In chaotic systems, the application of fractional order can endow the system with more degrees of freedom [17] , help to study the dynamic behavior of the system, combined with robust control methods [18] , eliminate external interference, and effectively solve the synchronization problem of the system [19] .…”

Section: Introductionmentioning

confidence: 99%

Human gait tracking for rehabilitation exoskeleton: adaptive fractional order sliding mode control approach

Zhou¹,

Sun²,

Chen³

et al. 2023

Intell Robot

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To improve the rehabilitation training effect of hemiplegic patients, in this paper, a discrete adaptive fractional order fast terminal sliding mode control approach is proposed for the lower limb exoskeleton system to implement high-precision human gait tracking tasks. Firstly, a discrete dynamic model is established based on the Lagrange system discretization criterion for the lower limb exoskeleton robot. Then, in order to design a discrete adaptive fractional order fast terminal sliding mode controller, the Grünwald–Letnikov fractional order operator is introduced to combine with fast terminal attractor to construct a fractional order fast terminal sliding surface. An adaptive parameter adjustment strategy is proposed for the reaching law of sliding mode control, which drives the sliding mode to the stable region dynamically. Moreover, the stability of the control system is proved in the sense of Lyapunov, and the guidelines for selecting the control parameters are given. Finally, the simulations are tested on the MATLAB-Opensim co-simulation platform. Compared with the conventional discrete sliding mode control and discrete fast terminal sliding mode control, the results verify the superiority of the proposed method in improving lower limb rehabilitation training.

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“…This provides new methodologies for more accurate modeling, robustness, and more flexible control. Distributed-order derivatives can be related to physical properties of dynamical systems that are composed of differential elements with different orders [7]. Sophisticated controllers based on fractional-order computations for quadcopter stabilization have been studied in many works [7].…”

Section: Introductionmentioning

confidence: 99%

On Novel Fractional-Order Trajectory Tracking Control of Quadrotors: A Predefined-Time Guarantee Performance Approach

Elyaalaoui,

Labbadi,

Boubaker

et al. 2023

Mathematics

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This paper presents a predefined-time fractional-order control for a quadrotor system subjected to perturbations. First, a fractional-order sliding manifold is proposed to ensure a predefined-time convergence of the tracking error. Second, a fractional-order switching-type predefined-time controller is proposed to achieve robustness against external disturbances. The predefined stability/convergence are proved using Lyapunov functions. The proposed method is validated using an adequate scenario and compared to other controllers to show the feasibility and superiority of the proposed one.

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Controlling a quadrotor UAV by means of a fractional nested saturation control

Cited by 9 publications

References 50 publications

Quadcopter Prototype Stability Assessment With Pid Controller And Euler-Lagrange Approach

Quadcopter Prototype Stability Assessment With Pid Controller And Euler-Lagrange Approach

Human gait tracking for rehabilitation exoskeleton: adaptive fractional order sliding mode control approach

On Novel Fractional-Order Trajectory Tracking Control of Quadrotors: A Predefined-Time Guarantee Performance Approach

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