Light weight quadrotors are highly manoeuvrable autonomous aerial robots (UAV) that outperform most UAVs; however, prone to a wide class of aerodynamic disturbances, vibrations, and uncertainties demand not only robust but fast attitude control structures. These arguments compelling enough motivate the design novel fractional-order scheme enforces finite-time convergence sliding manifold guarantee local exponential tracking. The controller does exhibit chattering require knowledge dynamic...

Quadrotors are highly maneuverable lightweight drones, which prone to aerodynamic disturbances, vibrations, and uncertainties. These factors stand for a problem that demands robust control laws. For position tracking, the is exacerbated, because plant underactuated in coordinates of interest, requiring high-performance attitude tracking resolve underactuation. In this brief, novel fractional-order controller proposed by considering well-posed map relates position/yaw desired references. The...

The manufacturing industry is undergoing a significant transformation, with digitalization, automation, and the Internet of Things (IoT) paving way for more intelligent, connected, efficient production systems. However, as systems become increasingly digitalized, they are also becoming vulnerable to cyber threats. This article examines key challenges solutions in ensuring that cybersecurity strategies fit future manufacturing, focusing on integration emerging technologies, proactive security...

A robust attitude quadrotor control based on a novel fractional order PI nonlinear structure is proposed and experimentally validated. The proportional action depends transformation of the sliding variable, while integral rejects nondifferentiable disturbances, such as turbulent effects gust winds, enforcing motion in finite time. exponential convergence quaternion-based error guaranteed for well-posed tracking, regularity signal can be adjusted with respect to order. Notably, proposal...

The goal of this paper is to present a novel configuration for three-rotor mini unmanned aerial vehicle (UAV). proposed design incorporates advantageous structural features which enhance the maneuverability rotorcraft. detailed mathematical model vehicle's attitude obtained through Newton-Euler formulation. In terms control, we propose control law robust with respect dynamical couplings and adverse torques. tilts simultaneously three rotors stabilize yaw dynamics. resulting algorithm simple...

Accelerated advances in science and technology drive the need for professionals with flexible problem-solving abilities towards a collaborative working environment. The pose challenge to educational institutions about how develop learning environments that contribute meeting aforementioned necessity. Additionally, fast pace of innovative knowledge are encouraging universities employ challenge-based-learning (CBL) approaches engineering education supported by modern such as unmanned aerial...

In this paper, we present the design of an autopilot embedded control system for VTOL aircrafts using low cost sensors. The uses parallel processing architecture. addition, multitasking software is used to implement data acquisition, law computation, and correction output get desired set point. can be easily tuning improve performance vehicle. We evaluate platform in a quad-rotor helicopter. main goal achieve stationary flight two strategies, linear PD nonlinear nested saturations control....

Abstract This paper presents a global stabilization of chain n integrators in cascade. The control strategy is obtained using the Lyapunov approach and separated saturation functions. Moreover, stability analysis recurrence theorem. generalized law designed order to quickly implement it on system, as choosing degree gives all conditions have stable system. proposed controller function bound only one state. allows us easily tune parameters. Simulations real‐time experiments are presented for...

A yaw angle, different from zero, introduces highly nonlinear couplings in the rotational and translational quadrotor dynamics, implying undesirable motions. This argument has motivated that position control problem of quadrotors is studied generally regulating at zero. However, zeroing limits maneuverability underactuated because one four actuated In this paper, simultaneous tracking time-varying heading proposed, based on an integral sliding mode with a quaternion-based surface. An...

Abstract Aiming at designing a robust controller to withstand class of continuous, but not necessarily differentiable, disturbances, such as Hölder type, continuous and chattering‐free sliding mode control is proposed. The key idea judicious synthesis resetting memory principle for the differintegral operators show that induced, sustained, in finite‐time, guarantee asymptotic tracking. closed‐loop system achieves exact rejection disturbances even case uncertain flow, assuming certain...

This paper addresses the problem of transition between rotary-wing and fixed-wing flight a tail-sitter unmanned aerial vehicle (UAV). A nonlinear control design is presented to regulate vertical-flight dynamics vehicle. We present dynamic aerodynamic equations that model behavior before (vertical flight), during after (forward flight) transition. low-cost embedded system, including an homemade inertial measurement unit (IMU), used perform autonomous attitude-stabilized in vertical mode.

A new fractional-order controller is proposed, whose novelty twofold: (i) it withstands a class of continuous but not necessarily differentiable disturbances as well uncertainties and unmodelled dynamics, (ii) based on principle dynamic memory resetting the differintegral operator, enforced an invariant sliding mode in finite time. Both account for exponential convergence tracking errors, where such instrumental to demonstrate closed-loop stability, robustness sustained motion, that high...

In this paper we present an original configuration of a small aerial vehicle having eight rotors, four them are devoted to stabilize the helicopter and rest used drive lateral displacements. The dynamical model is obtained using Euler-Lagrange approach, attitude dynamics (roll, pitch yaw) practically independent translational corresponding displacements (x y), except for compensation on angles roll pitch. This directly related velocity motors each axis. With particular many task could be...

Based on proximal subdifferentials and subgradients, instrumented with an extended Caputo differintegral operator, the stability analysis of a general class fractional-order nonlinear systems is considered by means non-smooth but convex Lyapunov functions. This facilitates concluding Mittag–Leffler for whose solutions are not necessarily differentiable in any integer-order sense. As solution to problem robust command subject unknown Lebesgue-measurable bounded disturbances, unit-vector-like...

C ; _ = Coriolis matrix Ez unitary vector in the z coordinate F 2 R translational forces applied to rotorcraft f of principal nonconservative object, including thrusts and drag terms associated with rotors fi force produced by motor i g acceleration due gravity I 3 inertia around center mass (expressed body fixed frame) J for full rotational kinetic energy helicopter expressed directly generalized coordinates m rigid object velocities region which Euler angles are valid q T aircraft SO Trot...