Path Following Control of Quadrotor UAV With Continuous Fractional-Order Super Twisting Sliding Mode
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Path Following Control of Quadrotor UAV With Continuous Fractional-Order Super Twisting Sliding Mode Moussa Labbadi1 · Yassine Boukal2 · Mohamed Cherkaoui1 Received: 10 December 2019 / Accepted: 4 September 2020 © Springer Nature B.V. 2020
Abstract Quadrotors are highly maneuverable drones, which are susceptible to the parameter uncertainties such as the mass, drag coefficients, and moment of inertia. Whose nonlinearities, aerodynamic disturbances, and higher coupling between the rotational and the translational dynamics stand for a problem that demands a robust controller. In the present paper, a fractional order (FO) improved super twisting proportional-integral-derivative sliding-mode control (STPIDSMC) is proposed for the quadrotor system. To improve the speed tracking performance, a FOPIDSM surface is designed. Moreover, the proposed FO control approach ensures fast convergence, high precision, good robustness against stochastic perturbations and uncertainties. Finally, the performance of the FOSTPIDSMC is investigated under different scenarios. The simulation results clearly show the high control performance, efficiency and high disturbance rejection capacity of the controller strategy proposed in this work in comparison with the nonlinear internal model control (NLIMC) and FO backstepping sliding mode control (FOBSMC) strategies. Keywords Fractional-order controller · Quadrotor · SMC · FO · Super twisting · Nonlinear systems · Varying load · Uncertainty and disturbance
1 Introduction 1.1 Goal and Motivation Due to the highest applications of the drones on both civilian and military missions [1, 2], the quadrotors have drawn considerable attention in the field of Unmanned Aerial Systems (UAS) during the past few years. The quadrotors have the capability to take off, hover, and land vertically [1, 3]. These vehicles have simple mechanical structures without swashplates and tail rotors to change external moments and forces unlike a regular helicopters [4]. The quadrotors can be used in many fields such as managing national parks, delivery and mailing, search/rescue, reconnaissance inside building, agricultural lands, and surveillance, etc. [3, 5]. However, Moussa Labbadi
[email protected] 1
Engineering for Smart and Sustainable Systems Research Center, Mohammadia School of Engineers, Mohammed V University in Rabat, Rabat, Morocco
2
University of Aix-Marseille, LIS UMR 7020 CNRS, 52 Av. Escadrille Normandie-Niemen, 13397, Marseille, France
the trajectory-tracking control is a major problem of the quadrotor because its position subsystem is typically underactuated due to the three degrees of freedom (x, y, z) with only one control input [6]. This vehicle system is characterized by strong coupling, high nonlinearity [7, 8]. Besides, the quadrotor system is subject to disturbances such as wind gust and parameter uncertainties like as the moment of inertia, the payload and drag coefficients due to its small weight and size [8–11]. Consequently, the flight controller design for these vehicles
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