Adaptive finite-time backstepping control tracker for quadrotor UAV with model uncertainty and external disturbance

Abstract

In this study, for the purpose of finite-time tracking control of quad-rotor Unmanned Aerial Vehicle (UAV) system under modeling uncertainties and external disturbances, an adaptive command-filtered backstepping sliding mode control scheme is presented. At first, a state-space model of quad-rotor's system is considered in the existence of bounded model uncertainties and exterior perturbations. Then, a command-filter according to the virtual control input is planned to reduce the computing complications. Subsequently, the output of command filter is considered instead of high-order derivative of virtual input. Besides, in order to remove the differential signals which are obtained during design of command-filter, the compensation error is used. Afterward, the sliding surfaces are designed according to tracking errors which are defined between actual states of the quad-rotor, desired values and compensation error system. Furthermore, backstepping control procedure combined with Lyapunov stability theory is used for finite-time convergence of switching surface. Besides, the adaptive control strategy is applied to estimate the upper bound of uncertainty and disturbance which is unknown in advance. At last, in order to validate the high efficacy of the designed control scheme, simulation results based on the actual parameters of quadrotor are provided. In addition, the comparison outcomes are provided to show proficiency and validity of the recommended technique compared with the existing method.