Control Design for Unmanned Aerial Vehicle Using Fractional order Backstepping Control and Extended Homogenous Control

Unmanned Aerial Vehicle (UAV) is a highly nonlinear unstable system. The twelve states of the UAV are controlled by four control inputs hence UAV is an underactuated system. With proper choice of virtual control inputs it can be written in the form of six subsystems of relative degree two. This work proposes a fractional order backstepping controller for position control of UAV. Further since attitude states are more prone to uncertainties an extended form of homogenous controller for attitude control of UAV in the presence of matched uncertainties. The stability analysis of both controller are given using the Lyapunov stability theory. Simulation result shows the robust performance in presence of uncertainties.