INTELLIGENT ADAPTIVE FRACTIONAL-ORDER BACKSTEPPING CONTROL FOR UNCERTAIN NON-LINEAR QUADROTOR

Lemya Guettal; Chellihi Abdelghani; Mostefa MohamedTouba; Riadh Ajgou

Lemya Guettal LI3CUB Laboratory, Department of Electrical Engineering, University of Biskra, Biskra, Algeria
Chellihi Abdelghani LI3CUB Laboratory, Department of Electronic, University of Constantine l, Constantine, Algeria
Mostefa MohamedTouba LI3CUB Laboratory, Department of Electrical Engineering, University of Biskra, Biskra, Algeria
Riadh Ajgou LGEERE Laboratory, Department of Electrical Engineering, University of El Oued, 39000 El Oued, Algeria

Article ID: 2572

Keywords: quadrotor; fractional-order; backstepping; fuzzy-Chebyshev network

Abstract

An intelligent adaptive fractional-order backstepping control under unknown external disturbances and parameter uncertainties for quadrotor is developed. The developed approach named FCN-FOBC combines fractional-order backstepping control (FOBC) and fuzzy-Chebyshev network (FCN). Initially, the overall control and system tracking are performed using backstepping control (BC). FOBC is designed to advance the convergence speed and control reliability. Second, the FCN is set up to approximate the uncertainties, and a robust term is considered to overcome the problem of FCN approximation errors. Finally, using the Lyapunov theory, the stability of control system is confirmed. The numerical results confirm that the proposed controller has better tracking accuracy and stronger robustness compared to conventional approaches.

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