Quadrotor Robust Fractional-Order Sliding Mode Control in Unmanned Aerial Vehicles for Eliminating External Disturbances

Mujahed Al-Dhaifallah*, Fahad M. Al-Qahtani, Sami Elferik, Abdul Wahid A. Saif

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


Quadrotors, commonly known as drones or unmanned aerial vehicles (UAVs), play an important role in load transportation. The complex vehicles used for transporting loads and surveillance purposes can be replaced through the ease of use and mechanical simplicity of the quadrotors. This study aims to introduce a new way of controlling the slung load system of the quadrotor after applying the fractional-order sliding mode control (FOSMC) method for performance enhancement. This method in the presence of external disturbances is likely to help stabilize and track the quadrotor with minimized swinging of the attached load. The results of this study prove the robustness of FOSMC through analysis, outcomes, and graphical representations that show the effect with various angles for a clear and conceptual understanding. The present study contributes to the literature by designing a robust FOSMC for a quadrotor with the help of external disturbances. The results of this study could be applied to the development of the design of upcoming drones which can increase the efficiency as well as the accuracy of load transportation. Further applications in the fields of rescue, agriculture, construction, research, and advancement of the fraction calculus-based control method are recommended using the FOSMC method.

Original languageEnglish
Article number665
Issue number8
StatePublished - Aug 2023

Bibliographical note

Publisher Copyright:
© 2023 by the authors.


  • drones
  • external disturbance
  • fractional-order sliding mode control
  • quadrotor
  • slung load

ASJC Scopus subject areas

  • Aerospace Engineering


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