contributor author | Moussa Labbadi | |
contributor author | Karima Boudaraia | |
contributor author | Ahmed Elakkary | |
contributor author | Mohamed Djemai | |
contributor author | Mohamed Cherkaoui | |
date accessioned | 2022-05-07T21:03:53Z | |
date available | 2022-05-07T21:03:53Z | |
date issued | 2021-10-28 | |
identifier other | (ASCE)AS.1943-5525.0001375.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4283269 | |
description abstract | This paper investigates the robust continuous fractional-order nonlinear sliding mode (RCFONSM) control scheme for controlling a disturbed uncertain quadrotor (DUQ). First, the fractional-order nonsingular terminal sliding mode (FONTSM) manifolds are designed for the altitude and attitude, and a finite-time convergence is realized in the sliding mode phases of the DUQ system. Then, based on fast terminal sliding, reaching laws are proposed to enhance the tracking performance against disturbances and ensure finite-time convergence in the reaching phases of the DUQ system. The proposed robust continuous fractional-order nonsingular terminal sliding mode (RCFONTSM) switch element may effectively improve the dynamical performance of the fractional-order nonlinear sliding mode (FONSM) surface by substituting the integral and derivative operators with fractional-order operators for the error dynamics. The Lyapunov theory is used to prove the stability of the tracking errors and the stabilization of the DUQ simultaneously. The proposed sliding manifolds and fast reaching laws ensured good robustness against disturbances/uncertainties, fast convergence, and high precision. Numerical simulation of the proposed controller compared with fractional-order (FO) backstepping sliding mode control (SMC) is given to demonstrate the superiority of the RCFONSM. | |
publisher | ASCE | |
title | A Continuous Nonlinear Sliding Mode Control with Fractional Operators for Quadrotor UAV Systems in the Presence of Disturbances | |
type | Journal Paper | |
journal volume | 35 | |
journal issue | 1 | |
journal title | Journal of Aerospace Engineering | |
identifier doi | 10.1061/(ASCE)AS.1943-5525.0001375 | |
journal fristpage | 04021122 | |
journal lastpage | 04021122-9 | |
page | 9 | |
tree | Journal of Aerospace Engineering:;2021:;Volume ( 035 ):;issue: 001 | |
contenttype | Fulltext | |