Fractional-Order Integral Terminal Sliding-Mode Control for Perturbed Nonlinear Systems With Application to Quadrotors
Résumé
In this paper, a novel fractional-order recursive integral terminal sliding mode (FORITSM) control is proposed for nonlinear systems in the presence of external disturbances with unknown bounds. The proposed control approach provides an easy-to implement solution capable of zeroing the sliding variable in a finite-time (FnT) by adding a fractional-order command filter. Moreover, the reaching phase is eliminated, and FnT convergence of the system states is proved. The proposed technique has also a chattering alleviation property, which is beneficial for practical cases, as the control of quadrotor UAVs presented in the paper. Finally, a simulation case study on a quadrotor system is illustrated to show the effectiveness of the proposed FORITSM control, also with respect to classical methods.
Domaines
Sciences de l'ingénieur [physics]
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Fractional_Order_Integral_Terminal_Sliding_Mode_Control_for_Perturbed_Nonlinear_Systems_With_Application_to_Quadrotors.pdf (3.58 Mo)
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