Event-triggered fractional-order sliding mode control technique for stabilization of disturbed quadrotor unmanned aerial vehicles

Abstract

In this study, an event-trigger-based fractional-order sliding mode control strategy is expanded as an implementation technique for the stabilization of quadrotor unmanned aerial vehicles in the existence of external random/time-varying disturbances. The planned control approach ensures the altitude and position tracking of the desired dynamics in the finite time, according to the Lyapunov technique. Moreover, thanks to the use of the event-triggering condition which is employed for the fractional-order sliding mode control technique, the control tasks avoid the frequent periodic execution and reduce the computing cost to achieve the best possible functionality of system. The performance of the suggested control algorithm is investigated through several numerical simulations. The tracking performances in the simulation outcomes illustrate the efficiency and applicability of the designed control procedure in comparison with other control techniques.