Attitude Control of the Quadrotor UAV with Mismatched Disturbances Based on the Fractional-Order Sliding Mode and Backstepping Control Subject to Actuator Faults

Considering mismatched disturbances, aerodynamic interference, chattering, and actuator failure in the attitude control of quadrotor unmanned aerial vehicle (UAV), this paper establishes a new UAV model with based on quaternion, designs fault tolerant controller. First, order to reduce chattering traditional reaching law, law sigmoid function is introduced into design. Second, sliding mode backstepping methods are adopted, fractional-order surface when faults occur actuators, parameters adaptively adjusted. The simulation results show that method can quickly achieve good robustness.