On Novel Fractional-Order Trajectory Tracking Control of Quadrotors: A Predefined-Time Guarantee Performance Approach

Kamal Elyaalaoui, Moussa Labbadi (), Sahbi Boubaker (), Souad Kamel and Faisal S. Alsubaei
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Kamal Elyaalaoui: LAPLACE, INP, University of Toulouse, 31400 Toulouse, France
Moussa Labbadi: University of Grenoble Alpes, CNRS, Grenoble INP, GIPSA-Lab, 38000 Grenoble, France
Sahbi Boubaker: Department of Computer & Network Engineering, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi Arabia
Souad Kamel: 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

Mathematics, 2023, vol. 11, issue 16, 1-18

Abstract: This paper presents a predefined-time fractional-order control for a quadrotor system subjected to perturbations. First, a fractional-order sliding manifold is proposed to ensure a predefined-time convergence of the tracking error. Second, a fractional-order switching-type predefined-time controller is proposed to achieve robustness against external disturbances. The predefined stability/convergence are proved using Lyapunov functions. The proposed method is validated using an adequate scenario and compared to other controllers to show the feasibility and superiority of the proposed one.

Keywords: predefined-time stability; quadrotor; fractional-order controller; disturbances (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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