Integral sliding mode control of a quadrotor with fractional order reaching dynamics

Abstract

We consider integral sliding mode control with a fractional order reaching law in this paper. The reaching law approach is followed and stability of the sliding manifold is shown graphically. We choose a quadrotor-type unmanned aerial vehicle (UAV) to validate the design. The attitude dynamics of the vehicle is controlled by the proposed scheme and it is seen that the proposed form of the control system gives much better results compared with its integer order counterpart. The contribution of the study is to report a highly robust control scheme utilizing the fractional order differintegration operators. © 2010, The Institute of Measurement and Control. All rights reserved.