Adaptive Backstepping Fractional-Order Global Sliding Mode Control for Quadrotor Aircraft

In this work, an adaptive fractional-order sliding mode control method is illustrated of the quadcopter unmanned aerial vehicles where the perturbation is taken into consideration. The nonlinear mathematical model under external disturbances is established through the Newton-Euler mechanics theory. The fractional-order sliding mode control algorithm proposed in this paper not only reduces the chattering of the closed-loop system, but also guarantees the system converge to stable state within a finite time. In addition, the adaptive law estimates and compensates for the upper bounds of the disturbances and uncertainties. Furthermore, Lyapunov analysis is used to ensure the stability of the quadrotor UAV system and the robustness of the controller under external disturbances. Finally, different simulations are carried out in the MATLAB environment to verify effectiveness and advantages of the proposed strategy compared to the existed controllers. Moreover, a comparative result is accomplished to highlight the significant outperformance of the presented scheme.