Robust PSO tuned FOSMC for altitude stabilization and trajectory tracking of Agricultural monitoring UAV
Belsty Derseh, Lebsework Negash, Chala Merga Abdissa
Abstract
This paper proposes Robust PSO tuned FOSMC for altitude stabilization and trajectory tracking of agricultural monitoring UAV. First, the quadrotor dynamics are modeled using Newton-Euler formalism hybrid systems approach. Second, Fractional order sliding mode control system is developed for attitude and position trajectory tracking of quadrotorr system under unknown external disturbance. Quadcopter control algorism is divided into inner and outer control loops . The outer loop controls the position altitude and generates the reference trajectories of the orientation which is controlled in the inner loop. The inner loop controls attitude of the quadcopter. In order to achieve good task performance for agility, flying efficiency and trajectory tracking, particle swarm optimization (PSO) algorithms are used to obtain the parameters of fractionalorder sliding mode controller (FOSMC).