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Open Access

Peer-reviewed

Research Article

Adaptive fractional-order non-singular terminal sliding mode control for omnidirectional quadrotors based on WRBF neural network

Rui Ma ,

Roles Conceptualization, Funding acquisition, Methodology, Project administration, Validation, Writing – original draft

* E-mail: nuaamarui@163.com

Affiliations Jiangsu University of Technology, Changzhou, China, Zhifang Engineering Design Co., Ltd., Nanjing, China
⨯
Qiang Gu,

Roles Formal analysis, Software, Validation, Writing – review & editing

Affiliation Jiangsu University of Technology, Changzhou, China

https://orcid.org/0009-0004-5641-7208

⨯
Li Ding,

Roles Conceptualization, Investigation, Visualization

Affiliation Jiangsu University of Technology, Changzhou, China
⨯
Yuan Li,

Roles Resources, Supervision

Affiliation Zhifang Engineering Design Co., Ltd., Nanjing, China
⨯
Changyan Sun,

Roles Resources, Supervision

Affiliation Zhifang Engineering Design Co., Ltd., Nanjing, China
⨯
Hongtao Wu

Roles Resources, Supervision

Affiliation Nanjing University of Aeronautics and Astronautics, Nanjing, China
⨯

Adaptive fractional-order non-singular terminal sliding mode control for omnidirectional quadrotors based on WRBF neural network

Rui Ma,
Qiang Gu,
Li Ding,
Yuan Li,
Changyan Sun,
Hongtao Wu

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Published: December 26, 2025
https://doi.org/10.1371/journal.pone.0339493

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