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Predefined-Time Fractional-Order Tracking Control for UAVs with Perturbation

Author

Listed:
  • Abdellah Benaddy

    (MIET Laboratory, Faculty of Science and Technology, Hassan First University of Settat, Settat 26000, Morocco)

  • Moussa Labbadi

    (LIS UMR CNRS 7020, Aix-Marseille University, 13013 Marseille, France)

  • Sahbi Boubaker

    (Department of Computer & Network Engineering, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi Arabia)

  • Faisal S. Alsubaei

    (Department of Cybersecurity, College of Computer Science and Engineering, University of Jeddah, Jeddah 23218, Saudi Arabia)

  • Mostafa Bouzi

    (MIET Laboratory, Faculty of Science and Technology, Hassan First University of Settat, Settat 26000, Morocco)

Abstract

This manuscript describes the design of a controller that assures predefined-time convergence in fractional-order sliding mode control (PTFOSMC) for a quadrotor UAV subjected to matched perturbation. Moreover, predefined-time techniques enable the establishment of a time constraint for convergence as a control parameter, distinguishing them from finite- and fixed-time controllers. The proposed control offers the advantage of sliding mode control, exhibiting rapid response and robust performance for the quadrotor subsystems. Notably, the suggested controller is devoid of terms dependent on the initial conditions of the quadrotor. Additionally, an established switching-type predefined-time controller with fractional-order is introduced to bolster robustness against external disturbances and alleviate the chattering problem associated with the sliding mode technique. The application of the Lyapunov function is employed to analyze the predefined-time stability of the quadrotor utilizing the suggested PTFOSMC. Numerical results are provided to demonstrate the effectiveness of the suggested scheme.

Suggested Citation

  • Abdellah Benaddy & Moussa Labbadi & Sahbi Boubaker & Faisal S. Alsubaei & Mostafa Bouzi, 2023. "Predefined-Time Fractional-Order Tracking Control for UAVs with Perturbation," Mathematics, MDPI, vol. 11(24), pages 1-25, December.
  • Handle: RePEc:gam:jmathe:v:11:y:2023:i:24:p:4886-:d:1294879
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    References listed on IDEAS

    as
    1. Kamal Elyaalaoui & Moussa Labbadi & Sahbi Boubaker & Souad Kamel & Faisal S. Alsubaei, 2023. "On Novel Fractional-Order Trajectory Tracking Control of Quadrotors: A Predefined-Time Guarantee Performance Approach," Mathematics, MDPI, vol. 11(16), pages 1-18, August.
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    1. Miguel Angel Hernández-Pérez & Gustavo Delgado-Reyes & Vicente Borja-Jaimes & Jorge Salvador Valdez-Martínez & Marisol Cervantes-Bobadilla, 2023. "An Adaptation of a Sliding Mode Classical Observer to a Fractional-Order Observer for Disturbance Reconstruction of a UAV Model: A Riemann–Liouville Fractional Calculus Approach," Mathematics, MDPI, vol. 11(24), pages 1-23, December.

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