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

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

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.

Palabras clave

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

Clasificación por materias

Técnicas de control avanzado; Sistemas complejos, singulares, descriptores, positivos, fraccionales, de estructura variable; Control de vuelo y propulsión

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