On Novel Fractional-Order Trajectory Tracking Control of Quadrotors: A Predefined-Time Guarantee Performance Approach

Abstract

This paper presents a predefined-time fractional-order control for a quadrotor system subjected to perturbations. First, a fractional-order sliding manifold is proposed to ensure a predefined-time convergence of the tracking error. Second, a fractional-order switching-type predefined-time controller is proposed to achieve robustness against external disturbances. The predefined stability/convergence are proved using Lyapunov functions. The proposed method is validated using an adequate scenario and compared to other controllers to show the feasibility and superiority of the proposed one.