This paper concerns the problem of designing a new hybrid flight controller for trajectory-tracking of a quadrotor subjected to external disturbances. It gives a hybrid fractional-order control (HFOC) with disturbance observer (DO). The proposed control approach is based on fractional calculus and sliding mode controller (SMC). A disturbance observer combining with FOSM control approach is designed for rotational subsystem to exactly attenuate the external disturbances. The chattering problem is eliminated by the proposed controller with higher robustness against disturbances. The stability of the proposed HFOC has been verified by Lyapunov analysis. The effectiveness of the HFOC combined with DO has been confirmed by numerical simulation results.
New hybrid fractional-order control-based disturbances observer for autonomous quadrotor vehicles subjected to disturbances
2021-06-15
2786487 byte
Conference paper
Electronic Resource
English
Emerald Group Publishing | 2024
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