Fractional-Order Sliding Mode with Active Disturbance Rejection Control for UAVs
This paper investigates the attitude control problem of unmanned aerial vehicles (UAVs), especially in the presence of uncertainties and external disturbances. To address this challenge, a fractional-order reaching law sliding mode with active disturbance rejection controller (FOSM-ADRC) is proposed...
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MDPI AG
2025-01-01
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| author | Zhikun Zhang Hui Zhang |
| author_facet | Zhikun Zhang Hui Zhang |
| author_sort | Zhikun Zhang |
| collection | DOAJ |
| description | This paper investigates the attitude control problem of unmanned aerial vehicles (UAVs), especially in the presence of uncertainties and external disturbances. To address this challenge, a fractional-order reaching law sliding mode with active disturbance rejection controller (FOSM-ADRC) is proposed. The controller combines a fractional-order calculus operator and active disturbance rejection controller (ADRC) techniques to enhance the dynamic performance and robustness of the system. Through the inner and outer loop design, the jitter of the sliding mode controller (SMC) is effectively suppressed, and fast response and strong anti-jamming ability are achieved, which, in turn, improves the control accuracy. Firstly, the dynamic model of the UAV is established, and its nonlinear dynamic characteristics are analyzed in detail. On this basis, a fractional-order reaching law sliding mode controller (FO-SMC) is designed as the outer loop to achieve fast response. ADRC is employed in the inner loop to compensate for the internal and external disturbances of the system. The results show that the FOSM-ADRC can effectively suppress the jitter phenomenon and maintain good control performance. |
| format | Article |
| id | doaj-art-0e76244a110f435f8db5d63077e7f62f |
| institution | Kabale University |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-0e76244a110f435f8db5d63077e7f62f2025-01-24T13:19:48ZengMDPI AGApplied Sciences2076-34172025-01-0115255610.3390/app15020556Fractional-Order Sliding Mode with Active Disturbance Rejection Control for UAVsZhikun Zhang0Hui Zhang1School of Electronic Information Engineering, Inner Mongolia University, Hohhot 010021, ChinaSchool of Electronic Information Engineering, Inner Mongolia University, Hohhot 010021, ChinaThis paper investigates the attitude control problem of unmanned aerial vehicles (UAVs), especially in the presence of uncertainties and external disturbances. To address this challenge, a fractional-order reaching law sliding mode with active disturbance rejection controller (FOSM-ADRC) is proposed. The controller combines a fractional-order calculus operator and active disturbance rejection controller (ADRC) techniques to enhance the dynamic performance and robustness of the system. Through the inner and outer loop design, the jitter of the sliding mode controller (SMC) is effectively suppressed, and fast response and strong anti-jamming ability are achieved, which, in turn, improves the control accuracy. Firstly, the dynamic model of the UAV is established, and its nonlinear dynamic characteristics are analyzed in detail. On this basis, a fractional-order reaching law sliding mode controller (FO-SMC) is designed as the outer loop to achieve fast response. ADRC is employed in the inner loop to compensate for the internal and external disturbances of the system. The results show that the FOSM-ADRC can effectively suppress the jitter phenomenon and maintain good control performance.https://www.mdpi.com/2076-3417/15/2/556unmanned aerial vehiclessliding mode controlattitude controlfractional-order controlactive disturbance rejection control |
| spellingShingle | Zhikun Zhang Hui Zhang Fractional-Order Sliding Mode with Active Disturbance Rejection Control for UAVs Applied Sciences unmanned aerial vehicles sliding mode control attitude control fractional-order control active disturbance rejection control |
| title | Fractional-Order Sliding Mode with Active Disturbance Rejection Control for UAVs |
| title_full | Fractional-Order Sliding Mode with Active Disturbance Rejection Control for UAVs |
| title_fullStr | Fractional-Order Sliding Mode with Active Disturbance Rejection Control for UAVs |
| title_full_unstemmed | Fractional-Order Sliding Mode with Active Disturbance Rejection Control for UAVs |
| title_short | Fractional-Order Sliding Mode with Active Disturbance Rejection Control for UAVs |
| title_sort | fractional order sliding mode with active disturbance rejection control for uavs |
| topic | unmanned aerial vehicles sliding mode control attitude control fractional-order control active disturbance rejection control |
| url | https://www.mdpi.com/2076-3417/15/2/556 |
| work_keys_str_mv | AT zhikunzhang fractionalorderslidingmodewithactivedisturbancerejectioncontrolforuavs AT huizhang fractionalorderslidingmodewithactivedisturbancerejectioncontrolforuavs |