Fixed-Time Fractional-Order Sliding Mode Control for UAVs under External Disturbances

IF 3.6 2区数学 Q1 MATHEMATICS, INTERDISCIPLINARY APPLICATIONS

Fractal and Fractional Pub Date : 2023-10-25 DOI:10.3390/fractalfract7110775

Abdellah Benaddy, Moussa Labbadi, Kamal Elyaalaoui, Mostafa Bouzi

引用次数: 1

Abstract

The present paper investigates a fixed-time tracking control with fractional-order dynamics for a quadrotor subjected to external disturbances. After giving the formulation problem of a quadrotor system with six subsystems like a second-order system, a fractional-order sliding manifold is then designed to achieve a fixed-time convergence of the state variables. In order to cope with the upper bound of the disturbances, a switching fixed-time controller is added to the equivalent control law. Based on the switching law, fixed-time stability is ensured. All analysis and stability are proved using the Lyapunov approach. Finally, the higher performance of the proposed controller fixed-time fractional-order sliding mode control (FTFOSMC) is successfully compared to the two existing techniques through numerical simulations.

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外部干扰下无人机的定时分数阶滑模控制

本文研究了一种具有分数阶动力学的四旋翼飞行器在受外界干扰时的定时跟踪控制。在给出六子系统四旋翼系统的二阶系统形式问题后，设计了分数阶滑动流形以实现状态变量的定时收敛。为了处理扰动的上界，在等效控制律中加入了切换定时控制器。基于切换律，保证了系统的定时稳定性。用李亚普诺夫方法证明了所有的分析和稳定性。最后，通过数值仿真，成功地将所提出的定时分数阶滑模控制(FTFOSMC)的性能与现有的两种方法进行了比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Fractal and Fractional MATHEMATICS, INTERDISCIPLINARY APPLICATIONS-

CiteScore

4.60

自引率

18.50%

发文量

632

审稿时长

11 weeks

期刊介绍： Fractal and Fractional is an international, scientific, peer-reviewed, open access journal that focuses on the study of fractals and fractional calculus, as well as their applications across various fields of science and engineering. It is published monthly online by MDPI and offers a cutting-edge platform for research papers, reviews, and short notes in this specialized area. The journal, identified by ISSN 2504-3110, encourages scientists to submit their experimental and theoretical findings in great detail, with no limits on the length of manuscripts to ensure reproducibility. A key objective is to facilitate the publication of detailed research, including experimental procedures and calculations. "Fractal and Fractional" also stands out for its unique offerings: it warmly welcomes manuscripts related to research proposals and innovative ideas, and allows for the deposition of electronic files containing detailed calculations and experimental protocols as supplementary material.