Fractional Order Sliding Mode Control of Quadrotor Based on Fractional Order Model

Abdul Wahid A. Saif*, Khaled Bin Gaufan, Sami El-Ferik, Mujahed Al-Dhaifallah

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


Quadrotor systems are becoming increasingly popular in various applications due to their maneuverability and versatility. Controlling these systems accurately is crucial to ensure stability and safety. This research paper proposes the implementation of two advanced controllers with integer and fractional order quadrotor systems. The purpose of the study is to enhance the control performance, robustness, and accuracy of the quadrotor system, and to highlight the potential of the proposed approach in modern control engineering. The researchers used simulation studies in MATLAB to verify the effectiveness of their approach. The results demonstrate that the implementation of Sliding Mode Control (SMC) and Fractional Order Sliding Mode Control (FOSMC) with the fractional order quadrotor system outperforms the traditional integer order quadrotor system in terms of control performance, robustness, and accuracy. Overall, the study highlights the potential of fractional order modeling and fractional order control techniques in improving the performance of quadrotor systems, which has significant implications for the advancement of modern control engineering.

Original languageEnglish
Pages (from-to)79823-79837
Number of pages15
JournalIEEE Access
StatePublished - 2023

Bibliographical note

Publisher Copyright:
© 2013 IEEE.


  • Quadrotor model
  • fractional order sliding mode control
  • sliding mode control

ASJC Scopus subject areas

  • General Engineering
  • General Materials Science
  • General Computer Science


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