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Fractional-order sliding mode control of uncertain QUAVs with time-varying state constraints
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Fractional-order sliding mode control of uncertain QUAVs with time-varying state constraints
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Journal Article
Fractional-order sliding mode control of uncertain QUAVs with time-varying state constraints
2019
Overview
In this paper, a novel robust fractional-order sliding mode (FOSM)-based state constrained control scheme is designed for uncertain quadrotor UAVs (QUAVs). Model uncertainties and wind gust disturbances are taken into consideration. Under the presented framework, the overall QUAV system is decoupled into translational subsystem and rotational subsystem. These two subsystems are connected to each other through common attitude extraction algorithms. For translational subsystem, the robust state variables constrained controller is designed to ensure the position state variables within the given time-varying constraints. For the rotational subsystem, a new robust FOSM controller is constructed to track the desired attitudes with better performances. Finally, the system is proved to be asymptotically stable, and both simulation and experiment results are conducted to validate the feasibility and effectiveness of the proposed control scheme.
