1. A Fractional Nonlinear PI-Structure Control for Robust Attitude Tracking of Quadrotors.
- Author
-
Oliva-Palomo, Fatima, Munoz-Vazquez, Aldo Jonathan, Sanchez-Orta, Anand, Parra-Vega, Vicente, Izaguirre-Espinosa, Carlos, and Castillo, Pedro
- Subjects
- *
ARTIFICIAL satellite attitude control systems , *ARTIFICIAL satellite tracking , *SLIDING mode control , *FRACTIONAL integrals - Abstract
A robust attitude quadrotor control based on a novel fractional order PI nonlinear structure is proposed and experimentally validated. The proportional action depends on a nonlinear transformation of the sliding variable, while the integral action of fractional order rejects nondifferentiable disturbances, such as turbulent effects and gust winds, enforcing a sliding motion in finite time. The exponential convergence of a quaternion-based error is guaranteed for well-posed attitude tracking, and the regularity of the control signal can be adjusted with respect to the fractional order. Notably, the proposal includes, as particular cases, first-order and second-order sliding mode control schemes. Experiments illustrate the viability of the proposal, and a comparative study versus PD, PI-like, first-order sliding mode and second-order sliding mode supertwisting controllers is presented and discussed. [ABSTRACT FROM AUTHOR]
- Published
- 2019
- Full Text
- View/download PDF