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- W2910352829 endingPage "2920" @default.
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- W2910352829 abstract "A robust attitude quadrotor control based on a novel fractional order PI nonlinear structure is proposed and experimentally validated. The proportional action depends on a nonlinear transformation of the sliding variable, while the integral action of fractional order rejects nondifferentiable disturbances, such as turbulent effects and gust winds, enforcing a sliding motion in finite time. The exponential convergence of a quaternion-based error is guaranteed for well-posed attitude tracking, and the regularity of the control signal can be adjusted with respect to the fractional order. Notably, the proposal includes, as particular cases, first-order and second-order sliding mode control schemes. Experiments illustrate the viability of the proposal, and a comparative study versus PD, PI-like, first-order sliding mode and second-order sliding mode supertwisting controllers is presented and discussed." @default.
- W2910352829 created "2019-01-25" @default.
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- W2910352829 date "2019-12-01" @default.
- W2910352829 modified "2023-10-18" @default.
- W2910352829 title "A Fractional Nonlinear PI-Structure Control for Robust Attitude Tracking of Quadrotors" @default.
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- W2910352829 doi "https://doi.org/10.1109/taes.2019.2893817" @default.
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