Battery power loss compensated fractional order sliding mode control of a quadrotor UAV

Abstract

This work considers the fractional order control of a lightweight quadrotor under loss in the battery voltage. Since the outdoor brushless motors are driven via a pulse width modulation (pwm) scheme, handshaking between the dynamic model and controller is established at the pwm level and this constitutes a major contribution of the paper. The attitude control is achieved via fractional order sliding mode control (FSMC) scheme. Necessary stability considerations are presented and it is seen that FSMC is a good alternative for the control of unmanned aerial vehicles. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society. © 2021 Elsevier B.V., All rights reserved.