A Fractional Nonlinear PI-structure Control for Robust Attitude Tracking of Quadrotors - Archive ouverte HAL
Article Dans Une Revue IEEE Transactions on Aerospace and Electronic Systems Année : 2019

A Fractional Nonlinear PI-structure Control for Robust Attitude Tracking of Quadrotors

Résumé

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.
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Dates et versions

hal-02116100 , version 1 (30-04-2019)

Identifiants

Citer

F. Oliva-Palomo, A.J. Munoz-Vazquez, A. Sanchez-Orta, V. Parra-Vega, C. Izaguirre-Espinosa, et al.. A Fractional Nonlinear PI-structure Control for Robust Attitude Tracking of Quadrotors. IEEE Transactions on Aerospace and Electronic Systems, 2019, 55 (6), pp.2911-2920. ⟨10.1109/TAES.2019.2893817⟩. ⟨hal-02116100⟩
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