Fixed-time Fractional-order Sliding Mode Control for Image-based Visual Servoing of Hexarotor

被引:0
|
作者
Kamath, Archit Krishna [1 ]
Teng, Chan Nga [1 ]
Feroskhan, Mir [1 ]
机构
[1] Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore, Singapore
来源
2024 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS, ICUAS | 2024年
关键词
TRACKING; DESIGN;
D O I
10.1109/ICUAS60882.2024.10556898
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper introduces a fixed-time fractional order sliding mode control (FTFOSMC) strategy designed for visual servoing applications using a hexarotor. In contrast to traditional finite-time sliding mode control approaches, the proposed method ensures the convergence of error trajectories to zero within a precisely defined time frame, irrespective of the system's initial conditions. The incorporation of fractional calculus in the control design minimizes chattering in the control effort, enhancing the strategy's suitability for realtime applications. The efficacy of the FTFOSMC strategy is demonstrated by integrating it with an image-based visual servoing approach on a hexarotor. Despite the nonlinear dynamics of the hexarotor and uncertainties introduced by the image node, the proposed controller effectively mitigates inherent chattering, achieving error convergence to zero within a fixed time based on fixed-time Lyapunov's stability theory. The paper further substantiates the superior performance of the proposed controller through a static platform landing task using AruCo markers, including a comparison with the existing finite-time sliding mode control strategy. The results affirm the effectiveness of the FTFOSMC approach and its potential to enhance the performance of hexarotor-based visual servoing applications in real-world scenarios.
引用
收藏
页码:512 / 521
页数:10
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