Finite-Time Trajectory Tracking Control of Output-Constrained Uncertain Quadrotor

In this article, a finite-time robust tracking control of output constrained multirotor unmanned aerial vehicle (UAV) is proposed. A finite-time sliding mode control (SMC) technique with barrier Lyapunov function (BLF) is used to assure robustness of the derived control laws while maintaining the ou...

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Bibliographic Details
Published in:IEEE access 2020, Vol.8, p.215603-215612
Main Authors: Raza, Abid, Malik, Fahad Mumtaz, Mazhar, Naveed, Ullah, Hameed, Khan, Rameez
Format: Article
Language:English
Subjects:
Asymptotic stability
Backstepping
Barrier function
Constraints
Control theory
Controllers
Convergence
finite-time convergence
Liapunov functions
output constraint
quadrotor UAV
Robust control
Robustness
Sliding mode control
Stability analysis
Tracking control
Trajectory control
trajectory tracking
Uncertainty
Unmanned aerial vehicles
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Summary:In this article, a finite-time robust tracking control of output constrained multirotor unmanned aerial vehicle (UAV) is proposed. A finite-time sliding mode control (SMC) technique with barrier Lyapunov function (BLF) is used to assure robustness of the derived control laws while maintaining the output in specified constraints. A comparison of the proposed controller is carried out with conventional SMC to manifest the effectiveness of the output-constrained tracking control. Numerical simulations of quadrotor UAV with exogenous disturbances and time-invariant output constraints demonstrate the efficacy of the proposed controller regarding robustness, finite-time convergence, and chattering reduction.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2020.3041262