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Authors: Heera Lal Maurya ; Padmini Singh ; Subhash Chand Yogi ; Laxmidhar Behera and Nishchal K. Verma

Affiliation: Department of Electrical Engineering, Indian Institute of Technology, Kanpur, U.P., 208016, India

Keyword(s): Unmanned Aerial Vehicle, Fractional Calculus, Sliding Mode Control, Model Uncertainty.

Abstract: An unmanned Aerial Vehicle (UAV) is a highly non-linear unstable system. In this work using fractional order calculus, a novel fractional order dynamics of UAV is proposed. The concept of fractional order depicts the more realistic behavior of UAVs. For proposed fractional order model, a fractional order sliding mode controller (SMC) is designed such that the desired path can be achieved by the UAV in finite-time. In addition to this model uncertainty and disturbance is considered in the system which is handled by the proposed robust SMC. Stability analysis is given for the fractional order SMC using fractional Lyapunov method. Simulations have been done for position and attitude tracking of UAV to demonstrate the efficacy of the proposed method.

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Paper citation in several formats:
Maurya, H.; Singh, P.; Yogi, S.; Behera, L. and Verma, N. (2021). Fractional Order Tracking Control of Unmanned Aerial Vehicle in Presence of Model Uncertainties and Disturbances. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-522-7; ISSN 2184-2809, SciTePress, pages 274-281. DOI: 10.5220/0010554902740281

@conference{icinco21,
author={Heera Lal Maurya. and Padmini Singh. and Subhash Chand Yogi. and Laxmidhar Behera. and Nishchal K. Verma.},
title={Fractional Order Tracking Control of Unmanned Aerial Vehicle in Presence of Model Uncertainties and Disturbances},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2021},
pages={274-281},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010554902740281},
isbn={978-989-758-522-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Fractional Order Tracking Control of Unmanned Aerial Vehicle in Presence of Model Uncertainties and Disturbances
SN - 978-989-758-522-7
IS - 2184-2809
AU - Maurya, H.
AU - Singh, P.
AU - Yogi, S.
AU - Behera, L.
AU - Verma, N.
PY - 2021
SP - 274
EP - 281
DO - 10.5220/0010554902740281
PB - SciTePress

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