A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial Vehicle
In this paper, a fractional-order sliding mode controller (FOSMC) is designed and applied to a four rotor unmanned aerial vehicle (Quadrotor) to perform trajectory tracking for different time-varying references. Because quadrotor’s nonlinear system dynamics are effected by external disturbances and...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Kaunas University of Technology
2020-08-01
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| Series: | Elektronika ir Elektrotechnika |
| Subjects: | |
| Online Access: | http://eejournal.ktu.lt/index.php/elt/article/view/25846 |
| _version_ | 1818260501246771200 |
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| author | Abdullah Basci Adnan Derdiyok Kaan Can Kamil Orman |
| author_facet | Abdullah Basci Adnan Derdiyok Kaan Can Kamil Orman |
| author_sort | Abdullah Basci |
| collection | DOAJ |
| description | In this paper, a fractional-order sliding mode controller (FOSMC) is designed and applied to a four rotor unmanned aerial vehicle (Quadrotor) to perform trajectory tracking for different time-varying references. Because quadrotor’s nonlinear system dynamics are effected by external disturbances and parameter variations easily, the FOSMC is used as a nonlinear controller and utilized its disturbance rejection characteristics to keep quadrotor on desired trajectory as well as overcome parameter variations. In order to indicate the priority of the FOSMC, an integer-order SMC (IOSMC) is also applied to quadrotor for the same references. The experimental results show that FOSMC is better than IOSMC in terms of error elimination and is good at dealing with parameter variations occurred while tracking the desired trajectory |
| first_indexed | 2024-12-12T18:32:20Z |
| format | Article |
| id | doaj.art-b837b5e8cb1b4368ab3a0af22439b564 |
| institution | Directory Open Access Journal |
| issn | 1392-1215 2029-5731 |
| language | English |
| last_indexed | 2024-12-12T18:32:20Z |
| publishDate | 2020-08-01 |
| publisher | Kaunas University of Technology |
| record_format | Article |
| series | Elektronika ir Elektrotechnika |
| spelling | doaj.art-b837b5e8cb1b4368ab3a0af22439b5642022-12-22T00:15:53ZengKaunas University of TechnologyElektronika ir Elektrotechnika1392-12152029-57312020-08-0126441010.5755/j01.eie.26.4.2584625846A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial VehicleAbdullah Basci0Adnan Derdiyok1Kaan Can2Kamil Orman3Ataturk UniversitySakarya UniversityAtatürk UniversityErzincan UniversityIn this paper, a fractional-order sliding mode controller (FOSMC) is designed and applied to a four rotor unmanned aerial vehicle (Quadrotor) to perform trajectory tracking for different time-varying references. Because quadrotor’s nonlinear system dynamics are effected by external disturbances and parameter variations easily, the FOSMC is used as a nonlinear controller and utilized its disturbance rejection characteristics to keep quadrotor on desired trajectory as well as overcome parameter variations. In order to indicate the priority of the FOSMC, an integer-order SMC (IOSMC) is also applied to quadrotor for the same references. The experimental results show that FOSMC is better than IOSMC in terms of error elimination and is good at dealing with parameter variations occurred while tracking the desired trajectoryhttp://eejournal.ktu.lt/index.php/elt/article/view/25846fractional-order control, sliding mode control, unmanned systems, quadrotor |
| spellingShingle | Abdullah Basci Adnan Derdiyok Kaan Can Kamil Orman A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial Vehicle Elektronika ir Elektrotechnika fractional-order control, sliding mode control, unmanned systems, quadrotor |
| title | A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial Vehicle |
| title_full | A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial Vehicle |
| title_fullStr | A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial Vehicle |
| title_full_unstemmed | A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial Vehicle |
| title_short | A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial Vehicle |
| title_sort | fractional order sliding mode controller design for trajectory tracking control of an unmanned aerial vehicle |
| topic | fractional-order control, sliding mode control, unmanned systems, quadrotor |
| url | http://eejournal.ktu.lt/index.php/elt/article/view/25846 |
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