Fractional-Order Fixed-Time Control for a Quadrotor Unmanned Aerial Vehicle with Disturbances

This article investigates the issue of trajectory tracking for a quadrotor unmanned aerial vehicle in the presence of disturbances. Firstly, in response to external disturbances, a fixed-time disturbance observer (FTDO) has been proposed that compensates for disturbances. Subsequently, a fixed-time terminal sliding mode surface is designed, and fractional-order theory is introduced to speed up the convergence and reduce the chattering. The results indicate that the aforementioned method can achieve precise tracking without overshoot under disturbances, and has good stability. Meanwhile, it can effectively suppress chattering and enhance system performance.