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Fractional-Order Control for Robust Position/Yaw Tracking of Quadrotors With Experiments

C. Izaguirre-Espinosa, A. J. Munoz-Vazquez, A. Sanchez-Orta, V. Parra-Vega, I. Fantoni
2018 IEEE Transactions on Control Systems Technology  
Quadrotors are highly maneuverable light weight drones, which are prone to aerodynamic disturbances, vibrations and uncertainties. These factors stand for a problem that demands robust control laws. For position tracking, the control problem is exacerbated because the plant is underactuated in the coordinates of interest, requiring a high performance attitude tracking to resolve underactuation. In this paper, a novel fractional-order controller is proposed by considering a well-posed map that
more » ... ll-posed map that relates the position/yaw control to desired attitude references. The attitude control is continuous and enforces and sustains a sliding motion in finite-time for exponential convergence of the tracking errors to fulfill a "virtual" position controller. The resulting closed-loop system is robust against continuous disturbances that are not necessarily differentiable in the conventional sense. A numerical study based on simulations is presented to analyze the advantages of the fractional actions to design a physically realizable controller, and experiments are discussed to expose the reliability of the proposed fractional scheme implemented in an 'X' configuration quadrotor.
doi:10.1109/tcst.2018.2831175 fatcat:ye53awf4efbn7msugzu6vpvefu