Robust Fractional‐Order Sliding Mode Control With Practical Finite‐Time Convergence for Constrained Quadrotor UAVs Under Input Saturation

ABSTRACT For quadrotor UAV control in the presence of input saturation, state constraints, and system uncertainties, this paper suggests a novel fractional‐order sliding‐mode control technique. Through the employment of a state‐constrained performance function, the proposed approach effectively reduces the numerical instabilities brought on by input saturation and state limits that exist in traditional approaches. Additionally, a fractional‐order sliding surface is used to enable quick practical finite‐time convergence of the system states. In comparison to conventional sliding mode control or integer order techniques, the proposed method not only enhances system robustness and chattering suppression, but it also investigates the practical finite‐time convergence qualities and clearly identifies the convergence boundaries. The simulation findings demonstrate fast convergence and excellent tracking performance, providing significant support for realistic flight control applications.