Fractional Order Sliding-Mode Controller for Quadcopter

This paper proposed the concept of fractional order sliding-mode control (FOSMC) for chattering reduction and reduced error converging time for Quadcopter. The controller is designed to control over the six degrees of freedom of the Quadcopter and enhances the stability as compared to PI-based control. In PI-based controllers the high transient overshoots deteriorate the stability of Quadcopter system. The FOSMC improves both transient and steady-state behavior of the Quadcopter motion. The FOSMC controller is highly robust controller as it rejects system uncertainties and disturbances drastically. FOSMC controller provides chattering free response as chattering is considered the main drawback in present conversional sliding-mode controls. Chattering is low amplitude noise present at high frequencies. For vertical take-off and landing (VTOL), an ERROR sliding surface is considered and then a mathematical analysis is carried out under the sliding-mode control law. The input unit step and ramp disturbances are considered to check the robustness of the controller. The Lyapunov-based stability criterion is used to check stability of the controller. The controller is tested by simulation in Simulink MATLAB. The FOSMC is not just gives better execution time with minimum control input, in addition, it shows strong, notwithstanding outer load unsettling influence and parameter varieties.