A survey on fractional order control techniques for unmanned aerial and ground vehicles

In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade

Modeling and Robust Control of Flying Robots Using Intelligent Approaches Modélisation et commande robuste des robots volants en utilisant des approches intelligentes

This thesis aims to modeling and robust controlling of a flying robot of quadrotor type. Where we focused in this thesis on quadrotor unmanned Aerial Vehicle (QUAV). Intelligent nonlinear controllers and intelligent fractional-order nonlinear controllers are designed to control. The QUAV system is considered as MIMO large-scale system that can be divided on six interconnected single-input–single-output (SISO) subsystems, which define one DOF, i.e., three-angle subsystems with three position subsystems. In addition, nonlinear models is considered and assumed to suffer from the incidence of parameter uncertainty. Every parameters such as mass, inertia of the system are assumed completely unknown and change over time without prior information. Next, basing on nonlinear, Fractional-Order nonlinear and the intelligent adaptive approximate techniques a control law is established for all subsystems. The stability is performed by Lyapunov method and getting the desired output with respect to the desired input. The modeling and control is done using MATLAB/Simulink. At the end, the simulation tests are performed to that, the designed controller is able to maintain best performance of the QUAV even in the presence of unknown dynamics, parametric uncertainties and external disturbance