Robust FOSMC of quadrotor in the presence of slung load

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

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 Scopus citations


This study aims to develop a robust control for the quadrotor slung-load system that efficiently follows a reference trajectory. A fractional-order robust sliding mode control has been chosen to control the quadrotor's altitude, position, and attitude. An anti-swing controller was also installed to limit the swing angle of the suspended load. It was created via delayed feedback, in which the quadrotor's position reference trajectory is changed by the difference of the load angles within a specific delayed value. Designing an adaptive FOSMC would control the system when the system uncertainties do not know the bounds. Moreover, the control parameters and the anti-swing controller for the FOSMC can be obtained using some optimization techniques to increase the controllers’ accuracy.

Original languageEnglish
Pages (from-to)106-121
Number of pages16
JournalISA Transactions
StatePublished - Aug 2023

Bibliographical note

Publisher Copyright:
© 2023 ISA


  • Quadrotor
  • Slung load
  • Unnamed Aerial Vehicles

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Instrumentation
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics


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