Fractional Order Sliding Mode Control of a Class of Second Order Perturbed Nonlinear Systems: Application to the Trajectory Tracking of a Quadrotor

Autor:	Rafael Castro-Linares, Gustavo E. Ceballos-Benavides, Norelys Aguila-Camacho, Arturo Govea-Vargas, Manuel A. Duarte-Mermoud
Rok vydání:	2018
Předmět:	0209 industrial biotechnology Numerical Analysis fractional order control lcsh:T55.4-60.8 Computer science Perturbation (astronomy) 02 engineering and technology 01 natural sciences Sliding mode control quadrotor control lcsh:QA75.5-76.95 stabilization Theoretical Computer Science Computational Mathematics Nonlinear system 020901 industrial engineering & automation Computational Theory and Mathematics Control theory 0103 physical sciences sliding modes trajectory tracking lcsh:Industrial engineering. Management engineering lcsh:Electronic computers. Computer science Fractional-order control 010301 acoustics
Zdroj:	Algorithms, Vol 11, Iss 11, p 168 (2018) Algorithms Volume 11 Issue 11
ISSN:	1999-4893
DOI:	10.3390/a11110168
Popis:	A Fractional Order Sliding Mode Control (FOSMC) is proposed in this paper for an integer second order nonlinear system with an unknown additive perturbation term. A sufficient condition is given to assure the attractiveness to a given sliding surface where trajectory tracking is assured, despite the presence of the perturbation term. The control scheme is applied to the model of a quadrotor vehicle in order to have trajectory tracking in the space. Simulation results are presented to evaluate the performance of the control scheme.
Databáze:	OpenAIRE
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