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

Author

Listed:
  • Kamal Elyaalaoui

    (LAPLACE, INP, University of Toulouse, 31400 Toulouse, France)

  • Moussa Labbadi

    (University of Grenoble Alpes, CNRS, Grenoble INP, GIPSA-Lab, 38000 Grenoble, France)

  • Sahbi Boubaker

    (Department of Computer & Network Engineering, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi Arabia)

  • Souad Kamel

    (Department of Computer & Network Engineering, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi Arabia)

  • Faisal S. Alsubaei

    (Department of Cybersecurity, College of Computer Science and Engineering, University of Jeddah, Jeddah 23218, Saudi Arabia)

Abstract

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.

Suggested Citation

  • Kamal Elyaalaoui & Moussa Labbadi & Sahbi Boubaker & Souad Kamel & Faisal S. Alsubaei, 2023. "On Novel Fractional-Order Trajectory Tracking Control of Quadrotors: A Predefined-Time Guarantee Performance Approach," Mathematics, MDPI, vol. 11(16), pages 1-18, August.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:16:p:3582-:d:1220185
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    References listed on IDEAS

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    1. Muñoz-Vázquez, Aldo Jonathan & Sánchez-Torres, Juan Diego & Defoort, Michael & Boulaaras, Salah, 2021. "Predefined-time convergence in fractional-order systems," Chaos, Solitons & Fractals, Elsevier, vol. 143(C).
    2. Juan Diego Sánchez-Torres & Aldo Jonathan Muñoz-Vázquez & Michael Defoort & Rodrigo Aldana-López & David Gómez-Gutiérrez, 2020. "Predefined-time integral sliding mode control of second-order systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 51(16), pages 3425-3435, December.
    3. Shirkavand, Mehrdad & Pourgholi, Mahdi, 2018. "Robust fixed-time synchronization of fractional order chaotic using free chattering nonsingular adaptive fractional sliding mode controller design," Chaos, Solitons & Fractals, Elsevier, vol. 113(C), pages 135-147.
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    Cited by:

    1. Miguel Angel Hernández-Pérez & Gustavo Delgado-Reyes & Vicente Borja-Jaimes & Jorge Salvador Valdez-Martínez & Marisol Cervantes-Bobadilla, 2023. "An Adaptation of a Sliding Mode Classical Observer to a Fractional-Order Observer for Disturbance Reconstruction of a UAV Model: A Riemann–Liouville Fractional Calculus Approach," Mathematics, MDPI, vol. 11(24), pages 1-23, December.
    2. Abdellah Benaddy & Moussa Labbadi & Sahbi Boubaker & Faisal S. Alsubaei & Mostafa Bouzi, 2023. "Predefined-Time Fractional-Order Tracking Control for UAVs with Perturbation," Mathematics, MDPI, vol. 11(24), pages 1-25, December.

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