Journal
ASIAN JOURNAL OF CONTROL
Volume 14, Issue 2, Pages 413-425Publisher
WILEY
DOI: 10.1002/asjc.340
Keywords
Fractional order control; quadrotor control; battery voltage loss compensation
Categories
Funding
- TUBITAK [107E137]
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This work considers the fractional order control of a lightweight quadrotor under loss in the battery voltage. Since the outdoor brushless motors are driven via a pulse width modulation (pwm) scheme, handshaking between the dynamic model and controller is established at the pwm level and this constitutes a major contribution of the paper. The attitude control is achieved via fractional order sliding mode control (FSMC) scheme. Necessary stability considerations are presented and it is seen that FSMC is a good alternative for the control of unmanned aerial vehicles.
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