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An improved adaptive fractional-order fast integral terminal sliding mode control for distributed quadrotor

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  • Labbadi, Moussa
  • Moussaoui, Hassan El

Abstract

This paper presents a novel control approach for a quadrotor unnamed aerial vehicle (QUAV) in the presence of external disturbances. The QUAV system is difficult to control due to the coupling between its attitude and position, and its dynamics subjected to external disturbances. Therefore, an improved fractional-order fast integral terminal sliding mode control (IFOFITSMC) technique is proposed for the attitude/position of the QUAV in this work. The IFOFITSMC improves the robustness of the QUAV system against time-varying disturbances. The adopted fractional-order fast integral sliding mode surface ensures the finite time convergence and the dynamics of attitude and position follow the desired dynamics more quickly. Moreover, the disturbances that affect the QUAV position and attitude are tackled based on adaptive laws without requiring information about the upper bounds of its disturbances. Furthermore, the Lyapunov method is used to prove the stability and the superior tracking error performances of the QUAV in the presence of disturbances. Finally, numerical simulation is presented to show the efficacy of the IFOFITSMC proposed in this work. Also, some previous methods in the literature are used to compare the tracking performances of the proposed technique.

Suggested Citation

  • Labbadi, Moussa & Moussaoui, Hassan El, 2021. "An improved adaptive fractional-order fast integral terminal sliding mode control for distributed quadrotor," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 188(C), pages 120-134.
    • Handle: RePEc:eee:matcom:v:188:y:2021:i:c:p:120-134
    DOI: 10.1016/j.matcom.2021.03.039
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    References listed on IDEAS

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    1. Deepika, Deepika & Narayan, Shiv & Kaur, Sandeep, 2019. "Robust finite time integral sliding mode tracker for nth-order non-affine non-linear system with uncertainty and disturbance estimator," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 156(C), pages 364-376.
    2. Xiaohua Zhang & Junli Gao & Wenfeng Zhang & Tao Zeng & Liping Ye, 2019. "Distributed Formation Control for Multiple Quadrotor Based on Multi-Agent Theory and Disturbance Observer," Mathematical Problems in Engineering, Hindawi, vol. 2019, pages 1-11, February.
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    Cited by:

    1. Hollweg, Guilherme Vieira & Evald, Paulo Jefferson Dias de Oliveira & Milbradt, Deise Maria Cirolini & Tambara, Rodrigo Varella & Gründling, Hilton Abílio, 2022. "Design of continuous-time model reference adaptive and super-twisting sliding mode controller," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 201(C), pages 215-238.
    2. Boulham, Ihab Abderraouf & Boubakir, Ahsene & Labiod, Salim, 2022. "ℒ1 adaptive controller design for a class of fractional order uncertain systems," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 193(C), pages 232-249.

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