FRACTIONAL ORDER SLIDING MODE CONTROLLER DESIGN FOR QUADROTOR SYSTEM

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FARHADI MEHDI; KAMALI MARZIEH; ASKARI JAVAD

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Journal: Modares Mechanical Engineering Year:2017 | Volume:17 | Issue:5 Page(s): 287-294

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Information Journal Paper

Title

FRACTIONAL ORDER SLIDING MODE CONTROLLER DESIGN FOR QUADROTOR SYSTEM

Author(s)

FARHADI MEHDI | KAMALI MARZIEH | ASKARI JAVAD | Issue Writer Certificate

Keywords

SLIDING MODE CONTROLQ1

FRACTIONAL ORDER EQUATIONSQ1

CHATTERINGQ1

QUADROTORQ1

Abstract

Quadrotors are types of Unmanned Aerial Vehicles (UAVs) which have unique features compared to conventional aircraft because of its vertical take-off and landing capability, flying in small areas and its high maneuverability. Also the relatively simple, economical and easy flight system of QUADROTORs, allows it to be widely used as a good platform for development, implementation and testing a variety of control methods. One of the robust control methods is SLIDING MODE CONTROL. In spite of the high capabilities of this approach, it has one main problem which is high frequency switching of the control signal which is known as the CHATTERING phenomenon. In the past several decades, fractional order differential equations have been implemented in engineering application field, including controller design and provides the possibility of using controllers for improving the performance of system. In this paper, a fractional order sliding surface has been employed for designing SLIDING MODE CONTROL rule for QUADROTORs. The main objective of this study is to improve the performance and reduce the CHATTERING phenomenon in sliding mode method. In this regard, by introducing sliding PDa surface, the control rule is designed in two different modes of 0<a£1 and 1<a<2 and the effect of a in the performance of the system is evaluated. Based on conducted simulations, it can be inferred that using an optimal value for a in fractional order sliding surface decreases the CHATTERING in control input.

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APA: Copy

FARHADI, MEHDI, KAMALI, MARZIEH, & ASKARI, JAVAD. (2017). FRACTIONAL ORDER SLIDING MODE CONTROLLER DESIGN FOR QUADROTOR SYSTEM. MODARES MECHANICAL ENGINEERING, 17(5 ), 287-294. SID. https://sid.ir/paper/179199/en

Vancouver: Copy

FARHADI MEHDI, KAMALI MARZIEH, ASKARI JAVAD. FRACTIONAL ORDER SLIDING MODE CONTROLLER DESIGN FOR QUADROTOR SYSTEM. MODARES MECHANICAL ENGINEERING[Internet]. 2017;17(5 ):287-294. Available from: https://sid.ir/paper/179199/en

IEEE: Copy

MEHDI FARHADI, MARZIEH KAMALI, and JAVAD ASKARI, “FRACTIONAL ORDER SLIDING MODE CONTROLLER DESIGN FOR QUADROTOR SYSTEM,” MODARES MECHANICAL ENGINEERING, vol. 17, no. 5 , pp. 287–294, 2017, [Online]. Available: https://sid.ir/paper/179199/en

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