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

Abdellah Benaddy, Moussa Labbadi (), Sahbi Boubaker (), Faisal S. Alsubaei and Mostafa Bouzi
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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

Mathematics, 2023, vol. 11, issue 24, 1-25

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.

Keywords: quadrotor UAV; predefined-time stability; fractional order; sliding mode control; Lyapunov function; external disturbances (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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