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Algorithms 2018, 11(11), 168; https://doi.org/10.3390/a11110168

Fractional Order Sliding Mode Control of a Class of Second Order Perturbed Nonlinear Systems: Application to the Trajectory Tracking of a Quadrotor

1
Department of Electrical Engineering, CINVESTAV, Av. IPN 2508, Ciudad de México 07360, México
2
Advanced Mining Technology Center, University of Chile, Av. Tupper 2007, Santiago 8370451, Chile
3
Department of Electrical Engineering, University of Chile, Av. Tupper 2007, Santiago 8370451, Chile
4
Departmento de Electricidad, Universidad Tecnológica Metropolitana, Av. José Pedro Alessandri 1242, Santiago 7800002, Chile
5
Facultad de Negocios, Ingeniería y Artes Digitales, Universidad Gabriela Mistral, Av. Ricardo Lyon 1177, Providencia, Santiago 7510549, Chile
*
Author to whom correspondence should be addressed.
Received: 24 June 2018 / Revised: 11 October 2018 / Accepted: 22 October 2018 / Published: 26 October 2018

Abstract

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. View Full-Text
Keywords: fractional order control; sliding modes; stabilization; trajectory tracking; quadrotor control fractional order control; sliding modes; stabilization; trajectory tracking; quadrotor control
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Govea-Vargas, A.; Castro-Linares, R.; Duarte-Mermoud, M.A.; Aguila-Camacho, N.; Ceballos-Benavides, G.E. Fractional Order Sliding Mode Control of a Class of Second Order Perturbed Nonlinear Systems: Application to the Trajectory Tracking of a Quadrotor. Algorithms 2018, 11, 168.

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