Design of Fractional‐Order Backstepping Sliding Mode Control for Quadrotor UAV. Issue 1 (6th November 2018)

• Record Type: Journal Article
• Authors: Shi, Xiaoyu; Cheng, Yuhua; Yin, Chun; Dadras, Sara; Huang, Xuegang
• Other Names: Karimi Hamid Reza guestEditor.; Wang Yueying guestEditor.; Shi Peng guestEditor.
• Is Part Of: Asian journal of control. Volume 21:Issue 1(2019)
• Page Start: 156
• Page End: 171
• Publication Date: 2018-11-06
• Subjects: Fractional‐order sliding mode -- backstepping -- quadrotor UAV; Automatic control -- Periodicals; Control theory -- Periodicals; 629.805
• DOI: 10.1002/asjc.1946
• Languages: English
• ISSNs: 1561-8625

Abstract

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.