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Design of Fractional‐Order Backstepping Sliding Mode Control for Quadrotor UAV
Author(s) -
Shi Xiaoyu,
Cheng Yuhua,
Yin Chun,
Dadras Sara,
Huang Xuegang
Publication year - 2019
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1946
Subject(s) - backstepping , control theory (sociology) , sliding mode control , mode (computer interface) , control (management) , computer science , order (exchange) , control engineering , nonlinear system , engineering , physics , artificial intelligence , adaptive control , economics , quantum mechanics , operating system , finance
Abstract This paper derives a nonlinear translational and rotational dynamic model of the quadrotor UAV. An original fractional‐order backstepping sliding mode control method for a typical quadrotor UAV is presented. The new approach can decrease the chattering phenomenon and increase the robustness of control strategy. The strongly coupled characteristics of the under‐actuated system are sought by the virtual controllers. The feasibility for different track trajectories are verified using MATLAB. The new control method can not only track the expected trajectory very well but also has a better robustness for different complex trajectory under disturbances, as the simulation results demonstrate.