Fixed-Time Fractional-Order Sliding Mode Control for UAVs under External Disturbances
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 desig...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Fractal and Fractional |
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| Online Access: | https://www.mdpi.com/2504-3110/7/11/775 |
| _version_ | 1797459250294816768 |
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| author | Abdellah Benaddy Moussa Labbadi Kamal Elyaalaoui Mostafa Bouzi |
| author_facet | Abdellah Benaddy Moussa Labbadi Kamal Elyaalaoui Mostafa Bouzi |
| author_sort | Abdellah Benaddy |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T16:48:45Z |
| format | Article |
| id | doaj.art-4aafe53565844b7cbf3428ae9b96ff02 |
| institution | Directory Open Access Journal |
| issn | 2504-3110 |
| language | English |
| last_indexed | 2024-03-09T16:48:45Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Fractal and Fractional |
| spelling | doaj.art-4aafe53565844b7cbf3428ae9b96ff022023-11-24T14:42:56ZengMDPI AGFractal and Fractional2504-31102023-10-0171177510.3390/fractalfract7110775Fixed-Time Fractional-Order Sliding Mode Control for UAVs under External DisturbancesAbdellah Benaddy0Moussa Labbadi1Kamal Elyaalaoui2Mostafa Bouzi3MIET Laboratory, Faculty of Science and Technology, Hassan First University of Settat, Settat 26000, MoroccoLIS UMR CNRS 7020, Aix-Marseille University, 13013 Marseille, FranceLAPLACE, INPT, University of Toulouse, 31058 Toulouse, FranceMIET Laboratory, Faculty of Science and Technology, Hassan First University of Settat, Settat 26000, MoroccoThe 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.https://www.mdpi.com/2504-3110/7/11/775quadrotor UAVfractional ordersliding mode controlfixed-time stabilitydisturbances |
| spellingShingle | Abdellah Benaddy Moussa Labbadi Kamal Elyaalaoui Mostafa Bouzi Fixed-Time Fractional-Order Sliding Mode Control for UAVs under External Disturbances Fractal and Fractional quadrotor UAV fractional order sliding mode control fixed-time stability disturbances |
| title | Fixed-Time Fractional-Order Sliding Mode Control for UAVs under External Disturbances |
| title_full | Fixed-Time Fractional-Order Sliding Mode Control for UAVs under External Disturbances |
| title_fullStr | Fixed-Time Fractional-Order Sliding Mode Control for UAVs under External Disturbances |
| title_full_unstemmed | Fixed-Time Fractional-Order Sliding Mode Control for UAVs under External Disturbances |
| title_short | Fixed-Time Fractional-Order Sliding Mode Control for UAVs under External Disturbances |
| title_sort | fixed time fractional order sliding mode control for uavs under external disturbances |
| topic | quadrotor UAV fractional order sliding mode control fixed-time stability disturbances |
| url | https://www.mdpi.com/2504-3110/7/11/775 |
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