Attitude control of quadrotors based on fractional sliding modes: theory and experiments

Light weight quadrotors are highly manoeuvrable autonomous aerial robots (UAV) that outperform most UAVs; however, quadrotors are prone to a wide class of aerodynamic disturbances, vibrations, and uncertainties that demand not only robust but fast attitude control structures. These arguments are com...

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Bibliographic Details
Published in:IET control theory & applications 2016-04, Vol.10 (7), p.825-832
Main Authors: Izaguirre-Espinosa, Carlos, Muñoz-Vázquez, Aldo Jonathan, Sánchez-Orta, Anand, Parra-Vega, Vicente, Castillo, Pedro
Format: Article
Language:English
Subjects:
aerodynamic disturbances
aerodynamic phenomena
Aerodynamics
attitude control
attitude control structures
Automatic Control Engineering
autonomous aerial robots
autonomous aerial vehicles
chattering
Computer Science
controller
Controllers
differintegral operator
Disturbances
dynamic model
exponential tracking
finite‐time convergence
fractional sliding modes
fractional‐order control scheme
fractional‐order reaching phase
helicopters
light weight quadrotors
Manifolds
resetting memory principle
Robots
robustness
Rotorcraft
sliding manifold
stability
stability analysis
UAV
Unmanned aerial vehicles
Vibration
vibrations
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Summary:Light weight quadrotors are highly manoeuvrable autonomous aerial robots (UAV) that outperform most UAVs; however, quadrotors are prone to a wide class of aerodynamic disturbances, vibrations, and uncertainties that demand not only robust but fast attitude control structures. These arguments are compelling enough to motivate the design of a novel fractional-order control scheme that enforces finite-time convergence of the sliding manifold to guarantee local exponential tracking. The controller does not exhibit chattering and does not require the knowledge of the dynamic model. The stability analysis is based on a proposed resetting memory principle to deal with memory effects of the differintegral operator, which allows the controller to tackle also robustness against continuous disturbances that are not necessarily differentiable in the conventional sense such as some aerodynamic phenomena. Experimental evidence is presented and discussed to expose the enforcement of the sliding manifold based on a fractional-order reaching phase that demonstrates the feasibility of the proposed control scheme.
ISSN:1751-8644
1751-8652
1751-8652
DOI:10.1049/iet-cta.2015.1048