Abstract In this paper, a fractional nonlinear control strategy based on the nested saturations technique and the Caputo-Fabrizio derivative for a quadrotor aircraft, to maintain desired position and orientation in stationary flight and trajectory tracking tasks, is proposed and developed. In addition, the dynamic model is obtained by using the Euler–Lagrange formulation, and then it is generalized to an arbitrary order through the Caputo-Fabrizio derivative. The traditional nonlinear control based on the nested saturation technique is also developed and implemented on the quadrotor for comparison purposes between both control schemes. Numerical simulations demonstrated the superiority of the proposed control strategy for stabilizing the quadrotor at hover and reaching the desired position and orientation, over its integer-order counterpart. In addition, three additional desired trajectories are considered, keeping the same gains and orders, to demonstrate the robustness of the proposed control scheme under different operating conditions. In this sense, our controller presents significant performance improvements, which were validated through system simulations. Our proposed control system and its traditional counterpart were tuned experimentally using the response of the system to a desired trajectory.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Controlling a quadrotor UAV by means of a fractional nested saturation control



    Erschienen in:

    Advances in Space Research ; 71 , 9 ; 3822-3836


    Erscheinungsdatum :

    2022-10-07


    Format / Umfang :

    15 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Fractional Order PID Controller for Quadrotor

    Yaghi, Murad A. / Shehadeh, AbdelHafez / Tutunji, Tarek A. | IEEE | 2023


    Quadrotor UAV flight control via a novel saturation integral backstepping controller

    Zhou, Laihong / Zhang, Juqian / She, Houxin et al. | BASE | 2019

    Freier Zugriff

    Suboptimal Integral Sliding Mode Control of a Quadrotor under Input Saturation

    Liu, Huaizhe / Lyu, Bin / Zheng, Hua et al. | IEEE | 2018



    Nested Saturation Control for Stabilizing the PVTOL Aircraft

    Fantoni, Isabelle / Palomino, Amparo | Wiley | 2013