Fractional-order double-loop anti-disturbance control for unmanned aerial vehicles with disturbances
HONG Bo-wen
HAN Yong-ming
GENG Zhi-qiang
Abstract：To eliminate the decrease of the control performance when unmanned aerial vehicles(UAVs)are subjected to external disturbances,a fractional-order-based dual loop controller for UAVs is proposed,which can realize the anti-disturbance control of UAVs under disturbances.Firstly,the fractional-order model of the position subsystem is given,and by designing the outer-loop Tube-based model predictive controller(TMPC),the desired trajectory tracking control of the position subsystem can be achieved.Then,by fusing the control characteristics of proportional-integral-differential(PID)controller,the inner-loop fractional-order sliding PID controller is designed,with the impact of disturbance,the stable tracking of the attitude subsystem on the desired attitude angle can be realized and maintained.Finally,compared with the integral-order TMPC and sliding PID,respectively,simulation on a quadrotor UAV,which based on the indicators analysis of mean absolute error(MAE),mean square error(MSE)and root mean square error(RMSE),verifies the effectiveness of the proposed fractional-order-based dual-loop controller.
Keywords：fractional-order systemmodel predictive controlsliding mode controldisturbance rejection controlunmanned aerial vehicles
Publication Date：2025-06-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 1083-1091 )