Fractional‐order integral terminal sliding‐mode control for perturbed nonlinear systems with application to quadrotors

In this article, a novel fractional-order recursive integral terminal sliding mode (FORITSM) control is proposed for nonlinear systems in the presence of external disturbances with unknown bounds. The approach provides an easy-to implement solution capable zeroing variable finite-time (FnT) by adding command filter. Moreover, reaching phase eliminated, and FnT convergence system states proved. technique has also chattering alleviation property, which beneficial practical cases, as quadrotor UAVs presented article. Finally, simulation case study on illustrated to show effectiveness FORITSM control, respect classical methods.