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

IEEE Access

Naveed Mazhar¹  Fahad Mumtaz Malik¹  Abid Raza¹  Rameez Khan¹  Hameed Ullah¹ 

[1] College of Electrical and Mechanical Engineering, National University of Sciences and Technology, Islamabad, Pakistan;

关键词: Barrier function;    finite-time convergence;    output constraint;    quadrotor UAV;    sliding mode control;    trajectory tracking;   

DOI  :  10.1109/ACCESS.2020.3041262

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown