Fractional Order Sliding Mode Control of a Class of Second Order Perturbed Nonlinear Systems: Application to the Trajectory Tracking of a Quadrotor

被引：12

作者：

Govea-Vargas, Arturo ^{[1
]}

Castro-Linares, Rafael ^{[1
]}

Duarte-Mermoud, Manuel A. ^{[2
,3
]}

Aguila-Camacho, Norelys ^{[4
]}

Ceballos-Benavides, Gustavo E. ^{[5
]}

机构：

[1] CINVESTAV, Dept Elect Engn, Av IPN 2508, Ciudad De Mexico 07360, Mexico

[2] Univ Chile, Adv Min Technol Ctr, Av Tupper 2007, Santiago 8370451, Chile

[3] Univ Chile, Dept Elect Engn, Av Tupper 2007, Santiago 8370451, Chile

[4] Univ Tecnol Metropolitana, Dept Elect, Av Jose Pedro Alessandri 1242, Santiago 7800002, Chile

[5] Univ Gabriela Mistral, Fac Negocios Ingn & Artes Digitales, Av Ricardo Lyon 1177, Santiago 7510549, Chile

来源：

ALGORITHMS | 2018年 / 11卷 / 11期

关键词：

fractional order control; sliding modes; stabilization; trajectory tracking; quadrotor control;

D O I：

10.3390/a11110168

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A Fractional Order Sliding Mode Control (FOSMC) is proposed in this paper for an integer second order nonlinear system with an unknown additive perturbation term. A sufficient condition is given to assure the attractiveness to a given sliding surface where trajectory tracking is assured, despite the presence of the perturbation term. The control scheme is applied to the model of a quadrotor vehicle in order to have trajectory tracking in the space. Simulation results are presented to evaluate the performance of the control scheme.

引用

页数：24

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