Articulo
Fractional Order Sliding Mode Control of a Class of Second Order Perturbed Nonlinear Systems: Application to the Trajectory Tracking of a Quadrotor
Fecha
2018Registro en:
1150488
WOS:000451146900004
Institución
Resumen
A Fractional Order Sliding Mode Control (FOSMC) is proposed in this paper for an integer second order nonlinear system with an unknown additive perturbation term. A sufficient condition is given to assure the attractiveness to a given sliding surface where trajectory tracking is assured, despite the presence of the perturbation term. The control scheme is applied to the model of a quadrotor vehicle in order to have trajectory tracking in the space. Simulation results are presented to evaluate the performance of the control scheme. Keywords. Author Keywords:fractional order control; sliding modes; stabilization; trajectory tracking; quadrotor control