Disturbance Observer based Fractional Order Sliding Mode Control for Quadrotor

Fractional control schemes are a powerful tool to fulfill robust tracking performance and enhanced stability of various non linear systems. One such application of highly non linear and unstable system is unmanned aerial vehicles. This paper is about the attitude control scheme of quadrotor type unmanned system. In this paper, the utilization of sliding mode control scheme in fractional order controller design for a quadrotor unmanned system is considered. The effect of extrinsic disturbance is taken into account and a disturbance observer is designed to alleviate its effects. Further, the stability of the closed loop system is analyzed using fractional Lyapunov theorems. Finally, the simulation results are presented to overview the efficacy of proposed controller.