Fractional order sliding mode control for attitude and altitude stabilization of a quadrotor UAV

This paper presents a novel fractional order sliding mode control strategy for a quadrotor unmanned aerial vehicle attitude and altitude stabilization. A saturated dynamic model is first obtained via Euler-Lagrange mechanics and coordinate translation. By introducing fractional order calculus, the newly presented control law can achieve fast convergence speed. In addition, with the help of bounded functions, our controller can deal with input limitation caused by characteristics of motors and propellers. Finally, simulations are carried out to illustrate the effectiveness of our method.