Labbadi, Moussa (Mohammed V University in Rabat), Boudaraia, Karima (Mohammed V University in Rabat), Boukal, Yassine (Altran by Capgemini), Zerrougui, Mohamed (Aix Marseille University), Cherkaoui, Mohamed (Mohammed V University in Rabat)

New Hybrid Fractional-Order Control-Based Disturbances Observer on of Autonomous Quadrotor Vehicles Subjected to Disturbances

Scheduled for presentation during the Regular Session "Control Design I" (ThA2), Thursday, June 17, 2021, 10:30−10:50, Kozani

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

This paper concerns the problem of designing a new hybrid flight controller for trajectory-tracking of a quadrotor subjected to external disturbances. It gives a hybrid fractional-order control (HFOC) with disturbance observer (DO). The proposed control approach is based on fractional calculus and sliding mode controller (SMC). A disturbance observer combining with FOSM control approach is designed for rotational subsystem to exactly attenuate the external disturbances. The chattering problem is eliminated by the proposed controller with higher robustness against disturbances. The stability of the proposed HFOC has been verified by Lyapunov analysis. The effectiveness of the HFOC combined with DO has been confirmed by numerical simulation results.