Fractional-Order Integral Terminal Sliding-Mode Control for Perturbed Nonlinear Systems With Application to Quadrotors - ISAE-SUPMECA Access content directly
Journal Articles International Journal of Robust and Nonlinear Control Year : 2023

Fractional-Order Integral Terminal Sliding-Mode Control for Perturbed Nonlinear Systems With Application to Quadrotors

Abstract

In this paper, a novel fractional-order recursive integral terminal sliding mode (FORITSM) control is proposed for nonlinear systems in the presence of external disturbances with unknown bounds. The proposed control approach provides an easy-to implement solution capable of zeroing the sliding variable in a finite-time (FnT) by adding a fractional-order command filter. Moreover, the reaching phase is eliminated, and FnT convergence of the system states is proved. The proposed technique has also a chattering alleviation property, which is beneficial for practical cases, as the control of quadrotor UAVs presented in the paper. Finally, a simulation case study on a quadrotor system is illustrated to show the effectiveness of the proposed FORITSM control, also with respect to classical methods.
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Dates and versions

hal-04068247 , version 1 (13-04-2023)

Identifiers

Cite

Moussa Labbadi, Michael Defoort, Gian Paolo Incremona, Mohamed Djemai. Fractional-Order Integral Terminal Sliding-Mode Control for Perturbed Nonlinear Systems With Application to Quadrotors. International Journal of Robust and Nonlinear Control, 2023, Special Issue: Advanced Control and Estimation applied to Aerial Robotic Vehicles, 33 (17), pp.10278-10303. ⟨10.1002/rnc.6608⟩. ⟨hal-04068247⟩
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