This paper proposes a finite-time controller for an unmanned aerial vehicle in the presence of Figures/uncertainties using fractional-order terminal sliding mode. First, contrary to existing fractional-order backstepping sliding mode controllers, this paper introduces a new control approach for quadrotor position control, which is based on fractional-order fast terminal backstepping sliding mode control. Using an appropriate sliding surface, the position tracking error converges to zero in finite time while providing good robustness properties in different complex path scenarios under unknown disturbances. Then, a novel fractional-order fast terminal sliding mode control scheme is developed for quadrotor attitude control, which provides good properties in terms of robustness against unknown disturbances, and in terms of convergence time, etc. Finally, simulation results are presented to discuss the advantages of the hybrid control approach proposed in this work for quadrotors under unknown disturbances compared to other existing controllers.

本文提出了一种使用分数阶终端滑模在存在图形/不确定性的情况下无人机的有限时间控制器。首先，与现有的分数阶反推滑模控制器相反，本文介绍了一种基于分数阶快速终端反推滑模控制的四旋翼位置控制新控制方法。使用适当的滑动面，位置跟踪误差在有限时间内收敛到零，同时在未知干扰下的不同复杂路径场景中提供良好的鲁棒性。然后，为四旋翼姿态控制开发了一种新颖的分数阶快速终端滑模控制方案，该方案在对未知干扰的鲁棒性和收敛时间等方面具有良好的性能。