Attitude tracking control of a quadrotor based on absolutely continuous fractional integral sliding modes

The model-free sliding mode control based on fractional order sliding surface is built upon: i) An absolutely continuous control structure that does not require the exact dynamic model to induce a fractional sliding motion in finite time, and ii) A methodology to design fractional references with a clear counterpart in the frequency domain is proposed. This in order to improve the system response, in particular the transient period, and to generate a high-performance during the sliding motion. Numerical simulations support the proposal and illustrates the closed-loop system, which provides a better insight of the proposed scheme.