A Pareto-based optimal fractional-order integral sliding mode controller for a quadrotor system

In this paper, a sliding mode controller with a fractional-order integral surface is designed for a nonlinear quadrotor system affected by external disturbances. The finite-time stability of the suggested fractional-order integral sliding mode control idea is proved using the Lyapunov theorem. Then, effective parameters of the controller are identified using a multi-objective gray wolf optimization algorithm with regard to simultaneously minimizing system errors and control efforts. Finally, the obtained results are simulated to clarify the capability of the proposed approach to handle the dynamical nonlinearities and external disturbances.