In the present paper, the problem of designing a global sliding mode control scheme based on fractional operators for tracking a quadrotor trajectory is investigated. The model of the quadrotor system is given with disturbances and uncertainties. To converge in short finite time of the sliding manifold, a classical quadratic Lyapunov function was used and also a global stabilization of the quadrotor system is ensured. The proposed controller can be ensured the robustness against external disturbances and model uncertainties. Some scenarios are illustrated in this paper. Finally, a comparative study to three other controllers is provided to show the validity and feasibility of the proposed method.

在本文中，研究了设计基于分数算子的全局滑模控制方案以跟踪四旋翼飞行器轨迹的问题。四旋翼系统的模型给出了干扰和不确定性。为了在滑动流形的有限时间内收敛，使用了经典的二次李雅普诺夫函数，并确保了四旋翼系统的全局稳定性。所提出的控制器可以确保对外部干扰和模型不确定性的鲁棒性。一些场景在本文中进行了说明。最后，提供了与其他三种控制器的比较研究，以证明所提出方法的有效性和可行性。