Control deslizante fraccionario de la trayectoria y orientación de un quadrotor con cargas suspendidas desconocidas

Nasim Ullah; Muhammah Asghar Ali; Asier Ibeas; Jorge Herrera

doi:10.4995/riai.2019.9951

Autores/as

Nasim Ullah University of Technology Nowshera
Muhammah Asghar Ali Qurtuba University of Science and Information Technology
Asier Ibeas Universitat Autònoma de Barcelona https://orcid.org/0000-0001-5094-3152
Jorge Herrera Universidad de Bogotá Jorge Tadeo Lozano

DOI:

https://doi.org/10.4995/riai.2019.9951

Palabras clave:

Control de quadrotores, Control en modo deslizante, Control fraccionario, Sistemas dinámicos inciertos, control de trayectoria

Resumen

Este artículo diseña un sistema de control para el problema de seguimiento de trayectorias de un vehículo quadrotor con una carga suspendida desconocida. La presencia de esta carga desconocida incrementa considerablemente la complejidad del problema y su oscilación actúa como una perturbación incierta que afecta a la dinámica propia del vehículo. De esta forma, la trayectoria global del quadrotor puede verse enormemente afectada a pesar de la existencia de un controlador nominal para él. Este artículo propone el diseño de un control deslizante de orden fraccionario para la solución de este problema. Junto con el diseño de la ley de control, se prueba la estabilidad del sistema en lazo cerrado a través del método de Lyapunov para sistemas fraccionarios. El desempeño obtenido por el controlador propuesto se compara con el control en modo deslizante clásico observando que el controlador propuesto mejora significativamente los resultados obtenidos.

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Biografía del autor/a

Nasim Ullah, University of Technology Nowshera

Department of Electrical Engineering and Technology

Asier Ibeas, Universitat Autònoma de Barcelona

Departamento de Telecomunicaciones e Ingeniería de Sistemas, Profesor Agregado

Jorge Herrera, Universidad de Bogotá Jorge Tadeo Lozano

Departamento de Ingeniería, Facultad de Ciencias Naturales e Ingeniería

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