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In this paper, a nonlinear Continuous Sliding Mode control (CSMC) application is presented for trajectory tracking control of a four rotor unmanned aerial vehicle (UAV) called the Quadrotor, also known as micro helicopter. The proposed controller is tested with different time-varying reference routes to provide a stable flight for position control. To show the effectiveness of the designed CSMC, well-tuned PI controller is also applied to quadrotor for the same routes. The current position of the quadrotor is taken from accelerometer, gyroscope and ultrasonic sensors. The experimental results show that the CSMC is adequate to dealing with parameter uncertainties occur in the system dynamics while flying and has satisfactory performance in terms of robustness against to disturbances and error elimination when it compared with PI controller.

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In this paper, speed and direction angle control of four-wheel drive skid-steered mobile robot (4WD SSMR) is realized by Fractional-Order Proportional Integral (FOPI) controller. Speed and direction angle of the mobile robot are calculated by using angular velocity of each motors. FOPI controller produces the torques of each motor of mobile robot for trajectory tracking and stabilization in the desired position. A well-tuned conventional PI controller is also applied to mobile robot for comparison with the FOPI. Experimental results prove that the FOPI shows better trajectory tracking performance than PI controller in terms of trajectory tracking accuracy and error levels.