Robust Finite-Time Control of a Multirotor System via an Improved Optimized Homogeneous Twisting Control: Design and Validation

Aimen Messaoui, Omar Mechali, Ali Messaoui, Iheb Smaali

2023

Abstract

This paper presents theoretical and practical aspects of finite-time tracking control of a multirotor attitude system. The vehicle is subjected to matched lumped disturbances. Inspired by the homogeneity theory, an Improved Optimized Homogeneous Twisting Control (IOHTC) is proposed to deal with the fast dynamics’ response of the attitude states. Within the designed control scheme, the chattering issue of discontinuous Sliding Mode Control (SMC) techniques can be mitigated due to the continuous control signal that is generated by a non-switching function in the form of 〖|x|〗^α sign(x),x ∈ R,α ∈ R+. Besides, finite-time convergence of the system’s states can be ensured to achieve accurate control. It is worth mentioning that the disturbance rejection does not require the design of an observer since the control law integrates a compensation term. Stability analysis of the closed-loop system is rigorously investigated by using a homogeneous Lyapunov function. From the practical aspect, the control algorithm is embedded onboard the quadrotor’s autopilot through a model-based design approach. A comparative study is made involving the proposed IOHTC strategy and three other controllers. The obtained results show that the suggested controller yields performance improvement regarding accuracy and robustness. Meanwhile, the chattering effect of conventional SMC is remarkably alleviated.

Paper Citation

in Harvard Style

Messaoui A., Mechali O., Messaoui A. and Smaali I. (2023). Robust Finite-Time Control of a Multirotor System via an Improved Optimized Homogeneous Twisting Control: Design and Validation. In Proceedings of the 13th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH; ISBN 978-989-758-668-2, SciTePress, pages 326-331. DOI: 10.5220/0012086700003546

in Bibtex Style

@conference{simultech23,
author={Aimen Messaoui and Omar Mechali and Ali Messaoui and Iheb Smaali},
title={Robust Finite-Time Control of a Multirotor System via an Improved Optimized Homogeneous Twisting Control: Design and Validation},
booktitle={Proceedings of the 13th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH},
year={2023},
pages={326-331},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012086700003546},
isbn={978-989-758-668-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 13th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH
TI - Robust Finite-Time Control of a Multirotor System via an Improved Optimized Homogeneous Twisting Control: Design and Validation
SN - 978-989-758-668-2
AU - Messaoui A.
AU - Mechali O.
AU - Messaoui A.
AU - Smaali I.
PY - 2023
SP - 326
EP - 331
DO - 10.5220/0012086700003546
PB - SciTePress