Event-triggered fractional-order sliding mode control technique for stabilization of disturbed quadrotor unmanned aerial vehicles

2022 ◽  
pp. 107337
Author(s):  
Mohsen Poozesh ◽  
Saleh Mobayen
Keyword(s):  
Sliding Mode Control ◽  
Unmanned Aerial Vehicles ◽  
Fractional Order ◽  
Sliding Mode ◽  
Control Technique ◽  
Mode Control ◽  
Aerial Vehicles ◽  
Quadrotor Unmanned Aerial Vehicles ◽  
Event Triggered

scholarly journals Sliding Mode Control and Modified Generalized Projective Synchronization of a New Fractional-Order Chaotic System

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Junbiao Guan ◽  
Kaihua Wang
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Chaotic System ◽  
Secure Communication ◽  
Sliding Mode ◽  
Projective Synchronization ◽  
Control Technique ◽  
Order System ◽  
Mode Control ◽  
The Stability

A new fractional-order chaotic system is addressed in this paper. By applying the continuous frequency distribution theory, the indirect Lyapunov stability of this system is investigated based on sliding mode control technique. The adaptive laws are designed to guarantee the stability of the system with the uncertainty and external disturbance. Moreover, the modified generalized projection synchronization (MGPS) of the fractional-order chaotic systems is discussed based on the stability theory of fractional-order system, which may provide potential applications in secure communication. Finally, some numerical simulations are presented to show the effectiveness of the theoretical results.

Implementation a fractional-order adaptive model-based PID-type sliding mode speed control for wheeled mobile robot

2019 ◽  
Vol 233 (8) ◽  
pp. 1067-1084 ◽  
Author(s):  
Kağan Koray Ayten ◽  
Muhammet Hüseyin Çiplak ◽  
Ahmet Dumlu
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Fractional Order ◽  
Sliding Mode ◽  
Wheeled Mobile Robot ◽  
Control Technique ◽  
Adaptive Model ◽  
Finite Time Convergence ◽  
Model Based ◽  
Mode Control

This article presents the speed and direction angle control of a wheeled mobile robot based on a fractional-order adaptive model-based PID-type sliding mode control technique. Taking into account the individual benefits of the fractional calculus and the adaptive model-based PID-type sliding mode control method, the fractional order and the adaptive model-based PID-type sliding mode control technique are combined and proposed as an effective controller for the first time in the literature for real-time control of the wheeled mobile robot under the external payload. In this proposed method, several critical issues are considered; first, a kinematic and dynamic model of the wheeled mobile robot is analysed considering the system’s uncertainties. Second, fractional-order calculus and the model-based PID-type sliding mode control is composed to realize the chattering-free control, accurate trajectory tracking response, finite time convergence and robustness for the wheeled mobile robot. Finally, an adaptive process is also employed to meet and overcome the unknown dynamics and uncertain parameters of the system, regardless of the previous information of the uncertainties. The experimental outcomes demonstrate that the proposed controller (fractional-order adaptive model-based PID-type sliding mode controller) delivers an accurate trajectory tracking performance, faster finite-time convergence as well as having a smaller speed error under the external payload when the adaptive model-based PID-type sliding mode control is compared.

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