Predefined-Time Fractional-Order Tracking Control for UAVs with Perturbation
This manuscript describes the design of a controller that assures predefined-time convergence in fractional-order sliding mode control (PTFOSMC) for a quadrotor UAV subjected to matched perturbation. Moreover, predefined-time techniques enable the establishment of a time constraint for convergence a...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-12-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/11/24/4886 |
| _version_ | 1797380183432364032 |
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| author | Abdellah Benaddy Moussa Labbadi Sahbi Boubaker Faisal S. Alsubaei Mostafa Bouzi |
| author_facet | Abdellah Benaddy Moussa Labbadi Sahbi Boubaker Faisal S. Alsubaei Mostafa Bouzi |
| author_sort | Abdellah Benaddy |
| collection | DOAJ |
| description | This manuscript describes the design of a controller that assures predefined-time convergence in fractional-order sliding mode control (PTFOSMC) for a quadrotor UAV subjected to matched perturbation. Moreover, predefined-time techniques enable the establishment of a time constraint for convergence as a control parameter, distinguishing them from finite- and fixed-time controllers. The proposed control offers the advantage of sliding mode control, exhibiting rapid response and robust performance for the quadrotor subsystems. Notably, the suggested controller is devoid of terms dependent on the initial conditions of the quadrotor. Additionally, an established switching-type predefined-time controller with fractional-order is introduced to bolster robustness against external disturbances and alleviate the chattering problem associated with the sliding mode technique. The application of the Lyapunov function is employed to analyze the predefined-time stability of the quadrotor utilizing the suggested PTFOSMC. Numerical results are provided to demonstrate the effectiveness of the suggested scheme. |
| first_indexed | 2024-03-08T20:33:39Z |
| format | Article |
| id | doaj.art-2cd180031b6a4e07b5166c409053e911 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-08T20:33:39Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-2cd180031b6a4e07b5166c409053e9112023-12-22T14:23:11ZengMDPI AGMathematics2227-73902023-12-011124488610.3390/math11244886Predefined-Time Fractional-Order Tracking Control for UAVs with PerturbationAbdellah Benaddy0Moussa Labbadi1Sahbi Boubaker2Faisal S. Alsubaei3Mostafa Bouzi4MIET Laboratory, Faculty of Science and Technology, Hassan First University of Settat, Settat 26000, MoroccoLIS UMR CNRS 7020, Aix-Marseille University, 13013 Marseille, FranceDepartment of Computer & Network Engineering, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi ArabiaDepartment of Cybersecurity, College of Computer Science and Engineering, University of Jeddah, Jeddah 23218, Saudi ArabiaMIET Laboratory, Faculty of Science and Technology, Hassan First University of Settat, Settat 26000, MoroccoThis manuscript describes the design of a controller that assures predefined-time convergence in fractional-order sliding mode control (PTFOSMC) for a quadrotor UAV subjected to matched perturbation. Moreover, predefined-time techniques enable the establishment of a time constraint for convergence as a control parameter, distinguishing them from finite- and fixed-time controllers. The proposed control offers the advantage of sliding mode control, exhibiting rapid response and robust performance for the quadrotor subsystems. Notably, the suggested controller is devoid of terms dependent on the initial conditions of the quadrotor. Additionally, an established switching-type predefined-time controller with fractional-order is introduced to bolster robustness against external disturbances and alleviate the chattering problem associated with the sliding mode technique. The application of the Lyapunov function is employed to analyze the predefined-time stability of the quadrotor utilizing the suggested PTFOSMC. Numerical results are provided to demonstrate the effectiveness of the suggested scheme.https://www.mdpi.com/2227-7390/11/24/4886quadrotor UAVpredefined-time stabilityfractional ordersliding mode controlLyapunov functionexternal disturbances |
| spellingShingle | Abdellah Benaddy Moussa Labbadi Sahbi Boubaker Faisal S. Alsubaei Mostafa Bouzi Predefined-Time Fractional-Order Tracking Control for UAVs with Perturbation Mathematics quadrotor UAV predefined-time stability fractional order sliding mode control Lyapunov function external disturbances |
| title | Predefined-Time Fractional-Order Tracking Control for UAVs with Perturbation |
| title_full | Predefined-Time Fractional-Order Tracking Control for UAVs with Perturbation |
| title_fullStr | Predefined-Time Fractional-Order Tracking Control for UAVs with Perturbation |
| title_full_unstemmed | Predefined-Time Fractional-Order Tracking Control for UAVs with Perturbation |
| title_short | Predefined-Time Fractional-Order Tracking Control for UAVs with Perturbation |
| title_sort | predefined time fractional order tracking control for uavs with perturbation |
| topic | quadrotor UAV predefined-time stability fractional order sliding mode control Lyapunov function external disturbances |
| url | https://www.mdpi.com/2227-7390/11/24/4886 |
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