Design of Quad-rotor Controller Based on Fractional Order Sliding Mode Control

Abstract

According to the chattering problems of traditional sliding mode index exponential reaching law, this paper proposes a fractional order sliding mode index exponential reaching law control strategy, which is applied to the quad-rotor helicopter attitude control. Combined the theory of fractional order calculus and sliding mode variable structure control theory, the fractional order sliding mode controller is designed. The method of  lyapunov analysis proves that this controller can make the system asymptotically stable. Simulation and experiments show that the proposed fractional order sliding mode control system not only undermines the chattering of traditional sliding mode exponential reaching law but also reduces the adjusting time and control margin of the system.