Fractional Order Sliding Mode Control of a Quadrotor

Arturo Govea Vargas, Rafael Castro Linares, Norelys Aguila Camacho, and Manuel A. Duarte Mermoud

Keywords

Fractional Control, Fractional Calculus, Fractional Derivative, Fractional Order Sliding Mode Control

Abstract

AFractionalOrderSlidingModeControl(FOSMC)isproposed for improving a quadrotor’s ?ight: take-off, hover, navigation and landing. The control scheme is based on previous works on FOSMC for quadrotors, where a fractional derivative is used to improve the quadrotor’s behaviour in presence of uncertainties ans disturbances. A comparisonbetweenaIntegerOrderSlidingModeControl (IOSMC) scheme and the Fractional Order Sliding Mode Control(FOSMC) scheme is made.

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