RESUMO
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.
