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This paper derives a nonlinear translational and rotational dynamic model of the quadrotor UAV. An original fractional-order backstepping sliding mode control method for a typical quadrotor UAV is presented. The new approach can decrease the chattering phenomenon and increase the robustness of control strategy. The strongly coupled characteristics of the under-actuated system are sought by the virtual controllers. The feasibility for different track trajectories are verified using MATLAB. The new control method can not only track the expected trajectory very well but also has a better robustness for different complex trajectory under disturbances, as the simulation results demonstrate.

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In this paper, an adaptive sliding mode technique based on a fractional-order (FO) switching-type control law is designed to guarantee robust stability for uncertain 3D FO nonlinear systems. A novel FO switching-type control law is proposed to ensure the existence of the sliding motion in finite time. Appropriate adaptive laws are shown to tackle the uncertainty and external disturbance. The calculation formula of the reaching time is analyzed and computed. The reachability analysis is visualized to show how to obtain a shorter reaching time. A stability criterion of the FO sliding mode dynamics is derived based on indirect approach to Lyapunov stability. posed control scheme are illustrated through numerical simulations.

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