A new fast finite time fractional order adaptive sliding-mode control for a quadrotor

Naderi Soorki, M ; Sharif University of Technology | 2021

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  1. Type of Document: Article
  2. DOI: 10.1109/ICCIA52082.2021.9403563
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2021
  4. Abstract:
  5. Fast finite time adaptive sliding mode control of a quadrotor in the presence of uncertainties and unbounded external disturbances is dealt in this paper. To this end, a fractional order sliding surface is first defined and then, an adaptive sliding mode controller is designed to guarantee finite time stability with fast convergence of quadrotor states to the desired trajectory. In this controller, it is assumed that the upper bound of the model uncertainties and external disturbances is a nonlinear function with unknown coefficients. These coefficients are estimated via stable adaptive laws. Finite time stability of the closed-loop system is analyzed using Lyapunov theorem. Simulation results are finally carried out to evaluate the performance of the proposed methodology. © 2021 IEEE
  6. Keywords:
  7. Closed loop systems ; Controllers ; Drones ; Uncertainty analysis ; Adaptive sliding mode control ; Adaptive sliding mode controller ; Desired trajectories ; External disturbances ; Finite time stability ; Fractional-order sliding surfaces ; Nonlinear functions ; Unknown coefficients ; Sliding mode control
  8. Source: 7th International Conference on Control, Instrumentation and Automation, ICCIA 2021, 23 February 2021 through 24 February 2021 ; 2021 ; 9780738124056 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/9403563